Surgical instrument having dual rotatable members to effect different types of end effector movement

ABSTRACT

A surgical instrument comprising an end effector configured to perform a plurality of end effector functions is disclosed. The surgical instrument further comprises a drive shaft which is both rotatable and translatable to drive the end effector functions.

CROSS-REFERENCE TO RELATED APPLICATIONS

This non-provisional application claims the benefit under 35 U.S.C. §119(e) of U.S. Provisional Patent Application Ser. No. 62/578,793,entitled SURGICAL INSTRUMENT WITH REMOTE RELEASE, filed Oct. 30, 2017,of U.S. Provisional Patent Application Ser. No. 62/578,804, entitledSURGICAL INSTRUMENT HAVING DUAL ROTATABLE MEMBERS TO EFFECT DIFFERENTTYPES OF END EFFECTOR MOVEMENT, filed Oct. 30, 2017, of U.S. ProvisionalPatent Application Ser. No. 62/578,817, entitled SURGICAL INSTRUMENTWITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS,filed Oct. 30, 2017, of U.S. Provisional Patent Application Ser. No.62/578,835, entitled SURGICAL INSTRUMENT WITH ROTARY DRIVE SELECTIVELYACTUATING MULTIPLE END EFFECTOR FUNCTIONS, filed Oct. 30, 2017, of U.S.Provisional Patent Application Ser. No. 62/578,844, entitled SURGICALINSTRUMENT WITH MODULAR POWER SOURCES, filed Oct. 30, 2017, and of U.S.Provisional Patent Application Ser. No. 62/578,855, entitled SURGICALINSTRUMENT WITH SENSOR AND/OR CONTROL SYSTEMS, filed Oct. 30, 2017, thedisclosures of which are incorporated by reference herein in theirentirety.

BACKGROUND

The present invention relates to surgical systems and, in variousarrangements, to grasping instruments that are designed to grasp thetissue of a patient, dissecting instruments configured to manipulate thetissue of a patient, clip appliers configured to clip the tissue of apatient, and suturing instruments configured to suture the tissue of apatient, among others.

BRIEF DESCRIPTION OF THE DRAWINGS

Various features of the embodiments described herein, together withadvantages thereof, may be understood in accordance with the followingdescription taken in conjunction with the accompanying drawings asfollows:

FIG. 1 illustrates a surgical system comprising a handle and severalshaft assemblies—each of which are selectively attachable to the handlein accordance with at least one embodiment;

FIG. 2 is an elevational view of the handle and one of the shaftassemblies of the surgical system of FIG. 1;

FIG. 3 is a partial cross-sectional perspective view of the shaftassembly of FIG. 2;

FIG. 4 is another partial cross-sectional perspective view of the shaftassembly of FIG. 2;

FIG. 5 is a partial exploded view of the shaft assembly of FIG. 2;

FIG. 6 is a partial cross-sectional elevational view of the shaftassembly of FIG. 2;

FIG. 7 is an elevational view of a drive module of the handle of FIG. 1;

FIG. 8 is a cross-sectional perspective view of the drive module of FIG.7;

FIG. 9 is an end view of the drive module of FIG. 7;

FIG. 10 is a partial cross-sectional view of the interconnection betweenthe handle and shaft assembly of FIG. 2 in a locked configuration;

FIG. 11 is a partial cross-sectional view of the interconnection betweenthe handle and shaft assembly of FIG. 2 in an unlocked configuration;

FIG. 12 is a cross-sectional perspective view of a motor and a speedreduction gear assembly of the drive module of FIG. 7;

FIG. 13 is an end view of the speed reduction gear assembly of FIG. 12;

FIG. 14 is a partial perspective view of an end effector of the shaftassembly of FIG. 2 in an open configuration;

FIG. 15 is a partial perspective view of the end effector of FIG. 14 ina closed configuration;

FIG. 16 is a partial perspective view of the end effector of FIG. 14articulated in a first direction;

FIG. 17 is a partial perspective view of the end effector of FIG. 14articulated in a second direction;

FIG. 18 is a partial perspective view of the end effector of FIG. 14rotated in a first direction;

FIG. 19 is a partial perspective view of the end effector of FIG. 14rotated in a second direction;

FIG. 20 is a partial cross-sectional perspective view of the endeffector of FIG. 14 detached from the shaft assembly of FIG. 2;

FIG. 21 is an exploded view of the end effector of FIG. 14 illustratedwith some components removed;

FIG. 22 is an exploded view of a distal attachment portion of the shaftassembly of FIG. 2;

FIG. 22A is an exploded view of the distal portion of the shaft assemblyof FIG. 2 illustrated with some components removed;

FIG. 23 is another partial cross-sectional perspective view of the endeffector of FIG. 14 detached from the shaft assembly of FIG. 2;

FIG. 24 is a partial cross-sectional perspective view of the endeffector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 25 is a partial cross-sectional perspective view of the endeffector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 26 is another partial cross-sectional perspective view of the endeffector of FIG. 14 attached to the shaft assembly of FIG. 2;

FIG. 27 is a partial cross-sectional view of the end effector of FIG. 14attached to the shaft assembly of FIG. 2 depicting a first, second, andthird clutch of the end effector;

FIG. 28 depicts the first clutch of FIG. 27 in an unactuated condition;

FIG. 29 depicts the first clutch of FIG. 27 in an actuated condition;

FIG. 30 depicts the second clutch of FIG. 27 in an unactuated condition;

FIG. 31 depicts the second clutch of FIG. 27 in an actuated condition;

FIG. 32 depicts the third clutch of FIG. 27 in an unactuated condition;

FIG. 33 depicts the third clutch of FIG. 27 in an actuated condition;

FIG. 34 depicts the second and third clutches of FIG. 27 in theirunactuated conditions and the end effector of FIG. 14 locked to theshaft assembly of FIG. 2;

FIG. 35 depicts the second clutch of FIG. 27 in its unactuated conditionand the third clutch of FIG. 27 in its actuated condition;

FIG. 36 depicts the second and third clutches of FIG. 27 in theiractuated conditions and the end effector of FIG. 14 unlocked from theshaft assembly of FIG. 2;

FIG. 37 is a partial cross-sectional view of a shaft assembly inaccordance with at least one alternative embodiment comprising sensorsconfigured to detect the conditions of the first, second, and thirdclutches of FIG. 27;

FIG. 38 is a partial cross-sectional view of a shaft assembly inaccordance with at least one alternative embodiment comprising sensorsconfigured to detect the conditions of the first, second, and thirdclutches of FIG. 27;

FIG. 39 depicts the first and second clutches of FIG. 38 in theirunactuated conditions and a sensor in accordance with at least onealternative embodiment;

FIG. 40 depicts the second and third clutches of FIG. 38 in theirunactuated conditions and a sensor in accordance with at least onealternative embodiment;

FIG. 41 is a partial cross-sectional view of a shaft assembly inaccordance with at least one embodiment;

FIG. 42 is a partial cross-sectional view of the shaft assembly of FIG.41 comprising a clutch illustrated in an unactuated condition;

FIG. 43 is a partial cross-sectional view of the shaft assembly of FIG.41 illustrating the clutch in an actuated condition;

FIG. 44 is a partial cross-sectional view of a shaft assembly inaccordance with at least one embodiment comprising first and secondclutches illustrated in an unactuated condition;

FIG. 45 is a perspective view of the handle drive module of FIG. 7 andone of the shaft assemblies of the surgical system of FIG. 1;

FIG. 46 is another perspective view of the handle drive module of FIG. 7and the shaft assembly of FIG. 45;

FIG. 47 is a partial cross-sectional view of the shaft assembly of FIG.45 attached to the handle of FIG. 1;

FIG. 48 is another partial cross-sectional view of the shaft assembly ofFIG. 45 attached to the handle of FIG. 1;

FIG. 49 is a partial cross-sectional perspective view of the shaftassembly of FIG. 45;

FIG. 50 is a schematic of the control system of the surgical system ofFIG. 1.

FIG. 51 is a perspective view of a shaft assembly in accordance with atleast one embodiment;

FIG. 52 is a perspective view of the shaft assembly of FIG. 51illustrated with some components removed;

FIG. 53 is a perspective view of an end effector of the shaft assemblyof FIG. 51;

FIG. 54 is a perspective view of a drive assembly of the shaft assemblyof FIG. 51,

FIG. 55 is another perspective view of the drive assembly of FIG. 54;

FIG. 56 is a partial plan view of the drive assembly of FIG. 54;

FIG. 57 is a partial cross-sectional view of a drive assembly inaccordance with at least one alternative embodiment;

FIG. 58 is an elevational view of the drive assembly of FIG. 54illustrated in a shifting configuration with some components removed;

FIG. 59 is an elevational view of the drive assembly of FIG. 54illustrated in a drive configuration with some components removed;

FIG. 60 is a top view of the drive assembly of FIG. 54 in the driveconfiguration;

FIG. 61 is a top view of the drive assembly of FIG. 54 in the shiftingconfiguration;

FIG. 62 is a partial perspective cross-sectional view of the endeffector of FIG. 53;

FIG. 63 is a partial perspective cross-sectional view of the endeffector of FIG. 53;

FIG. 64 is a partial top cross-sectional view of the end effector ofFIG. 53 in an articulation drive mode;

FIG. 65 is a partial top cross-sectional view of the end effector ofFIG. 53 in an articulated configuration;

FIG. 66 is a partial top cross-sectional view of the end effector ofFIG. 53 in a rotation drive mode;

FIG. 67 is a partial top cross-sectional view of the end effector ofFIG. 53 in a rotated configuration;

FIG. 68 is a partial top cross-sectional view of the end effector ofFIG. 53 in a jaw open/closure drive mode;

FIG. 69 is a partial top cross-sectional view of the end effector ofFIG. 53 in a closed configuration;

FIG. 70 is a perspective view of a drive assembly of a shaft assembly inaccordance with at least one embodiment;

FIG. 71 is a perspective view of an end effector of the shaft assemblyof FIG. 70 in an open configuration;

FIG. 72 is a partial perspective cross-sectional view of the endeffector of FIG. 71;

FIG. 73 is another partial perspective cross-sectional view of the endeffector of FIG. 71;

FIG. 74 is a partial top cross-sectional view of the end effector ofFIG. 71 in an articulation drive mode;

FIG. 75 is a partial top cross-sectional view of the end effector ofFIG. 71 in an articulated configuration;

FIG. 76 is a partial top cross-sectional view of the end effector ofFIG. 71 in a rotation drive mode;

FIG. 77 is a partial top cross-sectional view of the end effector ofFIG. 71 in a rotated configuration;

FIG. 78 is a partial top cross-sectional view of the end effector ofFIG. 71 in a jaw open/closure drive mode;

FIG. 79 is a partial top cross-sectional view of the end effector ofFIG. 71 in a closed configuration;

FIG. 80 is a partial top cross-sectional view of a drive shaft inaccordance with at least one embodiment; and

FIG. 81 is a partial top cross-sectional view of the drive shaft of FIG.80 in an articulated configuration.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate various embodiments of the invention, in one form, and suchexemplifications are not to be construed as limiting the scope of theinvention in any manner.

DETAILED DESCRIPTION

Applicant of the present application owns the following U.S. PatentApplications that were filed on even date herewith and which are eachherein incorporated by reference in their respective entireties:

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTWITH REMOTE RELEASE; Attorney Docket No. END7960USNP/180003;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTWITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS;Attorney Docket No. END7962USNP/180005;

U.S. patent application Ser. No. ______, entitled SURGICAL INSTRUMENTWITH ROTARY DRIVE SELECTIVELY ACTUATING MULTIPLE END EFFECTOR FUNCTIONS;Attorney Docket No. END7963USNP/180006;

U.S. patent application Ser. No. entitled SURGICAL INSTRUMENT WITHMODULAR POWER SOURCES; Attorney Docket No. END7964USNP/180007; and

U.S. patent application Ser. No. , entitled SURGICAL INSTRUMENT WITHSENSOR AND/OR CONTROL SYSTEMS; Attorney Docket No. END7965USNP/180008.

Numerous specific details are set forth to provide a thoroughunderstanding of the overall structure, function, manufacture, and useof the embodiments as described in the specification and illustrated inthe accompanying drawings. Well-known operations, components, andelements have not been described in detail so as not to obscure theembodiments described in the specification. The reader will understandthat the embodiments described and illustrated herein are non-limitingexamples, and thus it can be appreciated that the specific structuraland functional details disclosed herein may be representative andillustrative. Variations and changes thereto may be made withoutdeparting from the scope of the claims.

The terms “comprise” (and any form of comprise, such as “comprises” and“comprising”), “have” (and any form of have, such as “has” and“having”), “include” (and any form of include, such as “includes” and“including”), and “contain” (and any form of contain, such as “contains”and “containing”) are open-ended linking verbs. As a result, a surgicalsystem, device, or apparatus that “comprises,” “has,” “includes”, or“contains” one or more elements possesses those one or more elements,but is not limited to possessing only those one or more elements.Likewise, an element of a system, device, or apparatus that “comprises,”“has,” “includes”, or “contains” one or more features possesses thoseone or more features, but is not limited to possessing only those one ormore features.

The terms “proximal” and “distal” are used herein with reference to aclinician manipulating the handle portion of the surgical instrument.The term “proximal” refers to the portion closest to the clinician andthe term “distal” refers to the portion located away from the clinician.It will be further appreciated that, for convenience and clarity,spatial terms such as “vertical”, “horizontal”, “up”, and “down” may beused herein with respect to the drawings. However, surgical instrumentsare used in many orientations and positions, and these terms are notintended to be limiting and/or absolute.

Various exemplary devices and methods are provided for performinglaparoscopic and minimally invasive surgical procedures. However, thereader will readily appreciate that the various methods and devicesdisclosed herein can be used in numerous surgical procedures andapplications including, for example, in connection with open surgicalprocedures. As the present Detailed Description proceeds, the readerwill further appreciate that the various instruments disclosed hereincan be inserted into a body in any way, such as through a naturalorifice, through an incision or puncture hole formed in tissue, etc. Theworking portions or end effector portions of the instruments can beinserted directly into a patient's body or can be inserted through anaccess device that has a working channel through which the end effectorand elongate shaft of a surgical instrument can be advanced.

A surgical instrument, such as a grasper, for example, can comprise ahandle, a shaft extending from the handle, and an end effector extendingfrom the shaft. In various instances, the end effector comprises a firstjaw and a second jaw, wherein one or both of the jaws are movablerelative to the other to grasp the tissue of a patient. That said, anend effector of a surgical instrument can comprise any suitablearrangement and can perform any suitable function. For instance, an endeffector can comprise first and second jaws configured to dissect orseparate the tissue of a patient. Also, for instance, an end effectorcan be configured to suture and/or clip the tissue of a patient. Invarious instances, the end effector and/or shaft of the surgicalinstrument are configured to be inserted into a patient through atrocar, or cannula, and can have any suitable diameter, such asapproximately 5 mm, 8 mm, and/or 12 mm, for example. U.S. patentapplication Ser. No. 11/013,924, entitled TROCAR SEAL ASSEMBLY, now U.S.Pat. No. 7,371,227, is incorporated by reference in its entirety. Theshaft can define a longitudinal axis and at least a portion of the endeffector can be rotatable about the longitudinal axis. Moreover, thesurgical instrument can further comprise an articulation joint which canpermit at least a portion of the end effector to be articulated relativeto the shaft. In use, a clinician can rotate and/or articulate the endeffector in order to maneuver the end effector within the patient.

A surgical instrument system is depicted in FIG. 1. The surgicalinstrument system comprises a handle assembly 1000 which is selectivelyusable with a shaft assembly 2000, a shaft assembly 3000, a shaftassembly 4000, a shaft assembly 5000, and/or any other suitable shaftassembly. The shaft assembly 2000 is attached to the handle assembly1000 in FIG. 2 and the shaft assembly 4000 is attached to the handleassembly 1000 in FIG. 45. The shaft assembly 2000 comprises a proximalportion 2100, an elongate shaft 2200 extending from the proximal portion2100, a distal attachment portion 2400, and an articulation joint 2300rotatably connecting the distal attachment portion 2400 to the elongateshaft 2200. The shaft assembly 2000 further comprises a replaceable endeffector assembly 7000 attached to the distal attachment portion 2400.The replaceable end effector assembly 7000 comprises a jaw assembly 7100configured to be opened and closed to clamp and/or manipulate the tissueof a patient. In use, the end effector assembly 7000 can be articulatedabout the articulation joint 2300 and/or rotated relative to the distalattachment portion 2400 about a longitudinal axis to better position thejaw assembly 7100 within the patient, as described in greater detailfurther below.

Referring again to FIG. 1, the handle assembly 1000 comprises, amongother things, a drive module 1100. As described in greater detail below,the drive module 1100 comprises a distal mounting interface whichpermits a clinician to selectively attach one of the shaft assemblies2000, 3000, 4000, and 5000, for example, to the drive module 1100. Thus,each of the shaft assemblies 2000, 3000, 4000, and 5000 comprises anidentical, or an at least similar, proximal mounting interface which isconfigured to engage the distal mounting interface of the drive module1100. As also described in greater detail below, the mounting interfaceof the drive module 1100 mechanically secures and electrically couplesthe selected shaft assembly to the drive module 1100. The drive module1100 further comprises at least one electric motor, one or more controlsand/or displays, and a controller configured to operate the electricmotor- the rotational output of which is transmitted to a drive systemof the shaft assembly attached to the drive module 1100. Moreover, thedrive module 1100 is usable with one ore more power modules, such aspower modules 1200 and 1300, for example, which are operably attachableto the drive module 1100 to supply power thereto.

Further to the above, referring again to FIGS. 1 and 2, the handle drivemodule 1100 comprises a housing 1110, a first module connector 1120, anda second module connector 1120′. The power module 1200 comprises ahousing 1210, a connector 1220, one or more release latches 1250, andone or more batteries 1230. The connector 1220 is configured to beengaged with the first module connector 1120 of the drive module 1100 inorder to attach the power module 1200 to the drive module 1100. Theconnector 1220 comprises one or more latches 1240 which mechanicallycouple and fixedly secure the housing 1210 of the power module 1200 tothe housing 1110 of the drive module 1100. The latches 1240 are movableinto disengaged positions when the release latches 1250 are depressed sothat the power module 1200 can be detached from the drive module 1100.The connector 1220 also comprises one or more electrical contacts whichplace the batteries 1230, and/or an electrical circuit including thebatteries 1230, in electrical communication with an electrical circuitin the drive module 1100.

Further to the above, referring again to FIGS. 1 and 2, the power module1300 comprises a housing 1310, a connector 1320, one or more releaselatches 1350, and one or more batteries 1330 (FIG. 47). The connector1320 is configured to be engaged with the second module connector 1120′of the drive module 1100 to attach the power module 1300 to the drivemodule 1100. The connector 1320 comprises one or more latches 1340 whichmechanically couple and fixedly secure the housing 1310 of the powermodule 1300 to the housing 1110 of the drive module 1100. The latches1340 are movable into disengaged positions when the release latches 1350are depressed so that the power module 1300 can be detached from thedrive module 1100. The connector 1320 also comprises one or moreelectrical contacts which place the batteries 1330 of the power module1300, and/or an electrical power circuit including the batteries 1330,in electrical communication with an electrical power circuit in thedrive module 1100.

Further to the above, the power module 1200, when attached to the drivemodule 1100, comprises a pistol grip which can allow a clinician to holdthe handle 1000 in a manner which places the drive module 1100 on top ofthe clinician's hand. The power module 1300, when attached to the drivemodule 1100, comprises an end grip which allows a clinician to hold thehandle 1000 like a wand. The power module 1200 is longer than the powermodule 1300, although the power modules 1200 and 1300 can comprise anysuitable length. The power module 1200 has more battery cells than thepower module 1300 and can suitably accommodate these additional batterycells owing to its length. In various instances, the power module 1200can provide more power to the drive module 1100 than the power module1300 while, in some instances, the power module 1200 can provide powerfor a longer period of time. In some instances, the housing 1110 of thedrive module 1100 comprises keys, and/or any other suitable features,which prevent the power module 1200 from being connected to the secondmodule connector 1120′ and, similarly, prevent the power module 1300from being connected to the first module connector 1120. Such anarrangement can assure that the longer power module 1200 is used in thepistol grip arrangement and that the shorter power module 1300 is usedin the wand grip arrangement. In alternative embodiments, the powermodule 1200 and the power module 1300 can be selectively coupled to thedrive module 1100 at either the first module connector 1120 or thesecond module connector 1120′. Such embodiments provide a clinician withmore options to customize the handle 1000 in a manner suitable to them.

In various instances, further to the above, only one of the powermodules 1200 and 1300 is coupled to the drive module 1100 at a time. Incertain instances, the power module 1200 can be in the way when theshaft assembly 4000, for example, is attached to the drive module 1100.Alternatively, both of the power modules 1200 and 1300 can be operablycoupled to the drive module 1100 at the same time. In such instances,the drive module 1100 can have access to power provided by both of thepower modules 1200 and 1300. Moreover, a clinician can switch between apistol grip and a wand grip when both of the power modules 1200 and 1300are attached to the drive module 1100. Moreover, such an arrangementallows the power module 1300 to act as a counterbalance to a shaftassembly, such as shaft assemblies 2000, 3000, 4000, or 5000, forexample, attached to the drive module 1100.

Referring to FIGS. 7 and 8, the handle drive module 1100 furthercomprises a frame 1500, a motor assembly 1600, a drive system 1700operably engaged with the motor assembly 1600, and a control system1800. The frame 1500 comprises an elongate shaft that extends throughthe motor assembly 1600. The elongate shaft comprises a distal end 1510and electrical contacts, or sockets, 1520 defined in the distal end1510. The electrical contacts 1520 are in electrical communication withthe control system 1800 of the drive module 1100 via one or moreelectrical circuits and are configured to convey signals and/or powerbetween the control system 1800 and the shaft assembly, such as theshaft assembly 2000, 3000, 4000, or 5000, for example, attached to thedrive module 1100. The control system 1800 comprises a printed circuitboard (PCB) 1810, at least one microprocessor 1820, and at least onememory device 1830. The board 1810 can be rigid and/or flexible and cancomprise any suitable number of layers. The microprocessor 1820 and thememory device 1830 are part of a control circuit defined on the board1810 which controls the operation of the motor assembly 1600, asdescribed in greater detail below.

Referring to FIGS. 12 and 13, the motor assembly 1600 comprises anelectric motor 1610 including a housing 1620, a drive shaft 1630, and agear reduction system. The electric motor 1610 further comprises astator including windings 1640 and a rotor including magnetic elements1650. The stator windings 1640 are supported in the housing 1620 and therotor magnetic elements 1650 are mounted to the drive shaft 1630. Whenthe stator windings 1640 are energized with an electric currentcontrolled by the control system 1800, the drive shaft 1630 is rotatedabout a longitudinal axis. The drive shaft 1630 is operably engaged witha first planetary gear system 1660 which includes a central sun gear andseveral planetary gears operably intermeshed with the sun gear. The sungear of the first planetary gear system 1660 is fixedly mounted to thedrive shaft 1630 such that it rotates with the drive shaft 1630. Theplanetary gears of the first planetary gear system 1660 are rotatablymounted to the sun gear of a second planetary gear system 1670 and,also, intermeshed with a geared or splined inner surface 1625 of themotor housing 1620. As a result of the above, the rotation of the firstsun gear rotates the first planetary gears which rotate the second sungear. Similar to the above, the second planetary gear system 1670further comprises planetary gears 1665 (FIG. 13) which drive a thirdplanetary gear system and, ultimately, the drive shaft 1710. Theplanetary gear systems 1660, 1670, and 1680 co-operate to gear down thespeed applied to the drive shaft 1710 by the motor shaft 1620. Variousalternative embodiments are envisioned without a speed reduction system.Such embodiments are suitable when it is desirable to drive the endeffector functions quickly. Notably, the drive shaft 1630 comprises anaperture, or hollow core, extending therethrough through which wiresand/or electrical circuits can extend.

The control system 1800 is in communication with the motor assembly 1600and the electrical power circuit of the drive module 1100. The controlsystem 1800 is configured to control the power delivered to the motorassembly 1600 from the electrical power circuit. The electrical powercircuit is configured to supply a constant, or at least nearly constant,direct current (DC) voltage. In at least one instance, the electricalpower circuit supplies 3 VDC to the control system 1800. The controlsystem 1800 comprises a pulse width modulation (PWM) circuit which isconfigured to deliver voltage pulses to the motor assembly 1600. Theduration or width of the voltage pulses, and/or the duration or widthbetween the voltage pulses, supplied by the PWM circuit can becontrolled in order to control the power applied to the motor assembly1600. By controlling the power applied to the motor assembly 1600, thePWM circuit can control the speed of the output shaft of the motorassembly 1600. In addition to or in lieu of a PWM circuit, the controlsystem 1800 can include a frequency modulation (FM) circuit. Asdiscussed in greater detail below, the control system 1800 is operablein more than one operating mode and, depending on the operating modebeing used, the control system 1800 can operate the motor assembly 1600at a speed, or a range of speeds, which is determined to be appropriatefor that operating mode.

Further to the above, referring again to FIGS. 7 and 8, the drive system1700 comprises a rotatable shaft 1710 comprising a splined distal end1720 and a longitudinal aperture 1730 defined therein. The rotatableshaft 1710 is operably mounted to the output shaft of the motor assembly1600 such that the rotatable shaft 1710 rotates with the motor outputshaft. The handle frame 1510 extends through the longitudinal aperture1730 and rotatably supports the rotatable shaft 1710. As a result, thehandle frame 1510 serves as a bearing for the rotatable shaft 1710. Thehandle frame 1510 and the rotatable shaft 1710 extend distally from amounting interface 1130 of the drive module 1110 and are coupled withcorresponding components on the shaft assembly 2000 when the shaftassembly 2000 is assembled to the drive module 1100. Referring primarilyto FIGS. 3-6, the shaft assembly 2000 further comprises a frame 2500 anda drive system 2700. The frame 2500 comprises a longitudinal shaft 2510extending through the shaft assembly 2000 and a plurality of electricalcontacts, or pins, 2520 extending proximally from the shaft 2510. Whenthe shaft assembly 2000 is attached to the drive module 1100, theelectrical contacts 2520 on the shaft frame 2510 engage the electricalcontacts 1520 on the handle frame 1510 and create electrical pathwaystherebetween.

Similar to the above, the drive system 2700 comprises a rotatable driveshaft 2710 which is operably coupled to the rotatable drive shaft 1710of the handle 1000 when the shaft assembly 2000 is assembled to thedrive module 1100 such that the drive shaft 2710 rotates with the driveshaft 1710. To this end, the drive shaft 2710 comprises a splinedproximal end 2720 which mates with the splined distal end 1720 of thedrive shaft 1710 such that the drive shafts 1710 and 2710 rotatetogether when the drive shaft 1710 is rotated by the motor assembly1600. Given the nature of the splined interconnection between the driveshafts 1710 and 2710 and the electrical interconnection between theframes 1510 and 2510, the shaft assembly 2000 is assembled to the handle1000 along a longitudinal axis; however, the operable interconnectionbetween the drive shafts 1710 and 2710 and the electricalinterconnection between the frames 1510 and 2510 can comprise anysuitable configuration which can allow a shaft assembly to be assembledto the handle 1000 in any suitable manner.

As discussed above, referring to FIGS. 3-8, the mounting interface 1130of the drive module 1110 is configured to be coupled to a correspondingmounting interface on the shaft assemblies 2000, 3000, 4000, and 5000,for example. For instance, the shaft assembly 2000 comprises a mountinginterface 2130 configured to be coupled to the mounting interface 1130of the drive module 1100. More specifically, the proximal portion 2100of the shaft assembly 2000 comprises a housing 2110 which defines themounting interface 2130. Referring primarily to FIG. 8, the drive module1100 comprises latches 1140 which are configured to releasably hold themounting interface 2130 of the shaft assembly 2000 against the mountinginterface 1130 of the drive module 1100. When the drive module 1100 andthe shaft assembly 2000 are brought together along a longitudinal axis,as described above, the latches 1140 contact the mounting interface 2130and rotate outwardly into an unlocked position. Referring primarily toFIGS. 8, 10, and 11, each latch 1140 comprises a lock end 1142 and apivot portion 1144. The pivot portion 1144 of each latch 1140 isrotatably coupled to the housing 1110 of the drive module 1100 and, whenthe latches 1140 are rotated outwardly, as mentioned above, the latches1140 rotate about the pivot portions 1144. Notably, each latch 1140further comprises a biasing spring 1146 configured to bias the latches1140 inwardly into a locked position. Each biasing spring 1146 iscompressed between a latch 1140 and the housing 1110 of the drive module1100 such that the biasing springs 1146 apply biasing forces to thelatches 1140; however, such biasing forces are overcome when the latches1140 are rotated outwardly into their unlocked positions by the shaftassembly 2000. That said, when the latches 1140 rotate outwardly aftercontacting the mounting interface 2130, the lock ends 1142 of thelatches 1140 can enter into latch windows 2140 defined in the mountinginterface 2130. Once the lock ends 1142 pass through the latch windows2140, the springs 1146 can bias the latches 1140 back into their lockedpositions. Each lock end 1142 comprises a lock shoulder, or surface,which securely holds the shaft assembly 2000 to the drive module 1100.

Further to the above, the biasing springs 1146 hold the latches 1140 intheir locked positions. The distal ends 1142 are sized and configured toprevent, or at least inhibit, relative longitudinal movement, i.e.,translation along a longitudinal axis, between the shaft assembly 2000and the drive module 1100 when the latches 1140 are in their lockedpositions. Moreover, the latches 1140 and the latch windows 1240 aresized and configured to prevent relative lateral movement, i.e.,translation transverse to the longitudinal axis, between the shaftassembly 2000 and the drive module 1100. In addition, the latches 1140and the latch windows 2140 are sized and configured to prevent the shaftassembly 2000 from rotating relative to the drive module 1100. The drivemodule 1100 further comprises release actuators 1150 which, whendepressed by a clinician, move the latches 1140 from their lockedpositions into their unlocked positions. The drive module 1100 comprisesa first release actuator 1150 slideably mounted in an opening defined inthe first side of the handle housing 1110 and a second release actuator1150 slideably mounted in an opening defined in a second, or opposite,side of the handle housing 1110. Although the release actuators 1150 areactuatable separately, both release actuators 1150 typically need to bedepressed to completely unlock the shaft assembly 2000 from the drivemodule 1100 and allow the shaft assembly 2000 to be detached from thedrive module 1100. That said, it is possible that the shaft assembly2000 could be detached from the drive module 1100 by depressing only onerelease actuator 1150.

Once the shaft assembly 2000 has been secured to the handle 1000 and theend effector 7000, for example, has been assembled to the shaft 2000,the clinician can maneuver the handle 1000 to insert the end effector7000 into a patient. In at least one instance, the end effector 7000 isinserted into the patient through a trocar and then manipulated in orderto position the jaw assembly 7100 of the end effector assembly 7000relative to the patient's tissue. Oftentimes, the jaw assembly 7100 mustbe in its closed, or clamped, configuration in order to fit through thetrocar. Once through the trocar, the jaw assembly 7100 can be opened sothat the patient tissue fit between the jaws of the jaw assembly 7100.At such point, the jaw assembly 7100 can be returned to its closedconfiguration to clamp the patient tissue between the jaws. The clampingforce applied to the patient tissue by the jaw assembly 7100 issufficient to move or otherwise manipulate the tissue during a surgicalprocedure. Thereafter, the jaw assembly 7100 can be re-opened to releasethe patient tissue from the end effector 7000. This process can berepeated until it is desirable to remove the end effector 7000 from thepatient. At such point, the jaw assembly 7100 can be returned to itsclosed configuration and retracted through the trocar. Other surgicaltechniques are envisioned in which the end effector 7000 is insertedinto a patient through an open incision, or without the use of thetrocar. In any event, it is envisioned that the jaw assembly 7100 mayhave to be opened and closed several times throughout a surgicaltechnique.

Referring again to FIGS. 3-6, the shaft assembly 2000 further comprisesa clamping trigger system 2600 and a control system 2800. The clampingtrigger system 2600 comprises a clamping trigger 2610 rotatablyconnected to the proximal housing 2110 of the shaft assembly 2000. Asdiscussed below, the clamping trigger 2610 actuates the motor 1610 tooperate the jaw drive of the end effector 7000 when the clamping trigger2610 is actuated. The clamping trigger 2610 comprises an elongateportion which is graspable by the clinician while holding the handle1000. The clamping trigger 2610 further comprises a mounting portion2620 which is pivotably connected to a mounting portion 2120 of theproximal housing 2110 such that the clamping trigger 2610 is rotatableabout a fixed, or an at least substantially fixed, axis. The closuretrigger 2610 is rotatable between a distal position and a proximalposition, wherein the proximal position of the closure trigger 2610 iscloser to the pistol grip of the handle 1000 than the distal position.The closure trigger 2610 further comprises a tab 2615 extendingtherefrom which rotates within the proximal housing 2110. When theclosure trigger 2610 is in its distal position, the tab 2615 ispositioned above, but not in contact with, a switch 2115 mounted on theproximal housing 2110. The switch 2115 is part of an electrical circuitconfigured to detect the actuation of the closure trigger 2610 which isin an open condition the closure trigger 2610 is in its open position.When the closure trigger 2610 is moved into its proximal position, thetab 2615 comes into contact with the switch 2115 and closes theelectrical circuit. In various instances, the switch 2115 can comprise atoggle switch, for example, which is mechanically switched between openand closed states when contacted by the tab 2615 of the closure trigger2610. In certain instances, the switch 2115 can comprise a proximitysensor, for example, and/or any suitable type of sensor. In at least oneinstance, the switch 2115 comprises a Hall Effect sensor which candetect the amount in which the closure trigger 2610 has been rotatedand, based on the amount of rotation, control the speed in which themotor 1610 is operated. In such instances, larger rotations of theclosure trigger 2610 result in faster speeds of the motor 1610 whilesmaller rotations result in slower speeds, for example. In any event,the electrical circuit is in communication with the control system 2800of the shaft assembly 2000, which is discussed in greater detail below.

Further to the above, the control system 2800 of the shaft assembly 2000comprises a printed circuit board (PCB) 2810, at least onemicroprocessor 2820, and at least one memory device 2830. The board 2810can be rigid and/or flexible and can comprise any suitable number oflayers. The microprocessor 2820 and the memory device 2830 are part of acontrol circuit defined on the board 2810 which communicates with thecontrol system 1800 of the handle 1000. The shaft assembly 2000 furthercomprises a signal communication system 2900 and the handle 1000 furthercomprises a signal communication system 1900 which are configured toconvey data between the shaft control system 2800 and the handle controlsystem 1800. The signal communication system 2900 is configured totransmit data to the signal communication system 1900 utilizing anysuitable analog and/or digital components. In various instances, thecommunication systems 2900 and 1900 can communicate using a plurality ofdiscrete channels which allows the input gates of the microprocessor1820 to be directly controlled, at least in part, by the output gates ofthe microprocessor 2820. In some instances, the communication systems2900 and 1900 can utilize multiplexing. In at least one such instance,the control system 2900 includes a multiplexing device that sendsmultiple signals on a carrier channel at the same time in the form of asingle, complex signal to a multiplexing device of the control system1900 that recovers the separate signals from the complex signal.

The communication system 2900 comprises an electrical connector 2910mounted to the circuit board 2810. The electrical connector 2910comprises a connector body and a plurality of electrically-conductivecontacts mounted to the connector body. The electrically-conductivecontacts comprise male pins, for example, which are soldered toelectrical traces defined in the circuit board 2810. In other instances,the male pins can be in communication with circuit board traces throughzero-insertion-force (ZIF) sockets, for example. The communicationsystem 1900 comprises an electrical connector 1910 mounted to thecircuit board 1810. The electrical connector 1910 comprises a connectorbody and a plurality of electrically-conductive contacts mounted to theconnector body. The electrically-conductive contacts comprise femalepins, for example, which are soldered to electrical traces defined inthe circuit board 1810. In other instances, the female pins can be incommunication with circuit board traces through zero-insertion-force(ZIF) sockets, for example. When the shaft assembly 2000 is assembled tothe drive module 1100, the electrical connector 2910 is operably coupledto the electrical connector 1910 such that the electrical contacts formelectrical pathways therebetween. The above being said, the connectors1910 and 2910 can comprise any suitable electrical contacts. Moreover,the communication systems 1900 and 2900 can communicate with one anotherin any suitable manner. In various instances, the communication systems1900 and 2900 communicate wirelessly. In at least one such instance, thecommunication system 2900 comprises a wireless signal transmitter andthe communication system 1900 comprises a wireless signal receiver suchthat the shaft assembly 2000 can wirelessly communicate data to thehandle 1000. Likewise, the communication system 1900 can comprise awireless signal transmitter and the communication system 2900 cancomprise a wireless signal receiver such that the handle 1000 canwirelessly communicate data to the shaft assembly 2000.

As discussed above, the control system 1800 of the handle 1000 is incommunication with, and is configured to control, the electrical powercircuit of the handle 1000. The handle control system 1800 is alsopowered by the electrical power circuit of the handle 1000. The handlecommunication system 1900 is in signal communication with the handlecontrol system 1800 and is also powered by the electrical power circuitof the handle 1000. The handle communication system 1900 is powered bythe handle electrical power circuit via the handle control system 1800,but could be directly powered by the electrical power circuit. As alsodiscussed above, the handle communication system 1900 is in signalcommunication with the shaft communication system 2900. That said, theshaft communication system 2900 is also powered by the handle electricalpower circuit via the handle communication system 1900. To this end, theelectrical connectors 1910 and 2010 connect both one or more signalcircuits and one or more power circuits between the handle 1000 and theshaft assembly 2000. Moreover, the shaft communication system 2900 is insignal communication with the shaft control system 2800, as discussedabove, and is also configured to supply power to the shaft controlsystem 2800. Thus, the control systems 1800 and 2800 and thecommunication systems 1900 and 2900 are all powered by the electricalpower circuit of the handle 1000; however, alternative embodiments areenvisioned in which the shaft assembly 2000 comprises its own powersource, such as one or more batteries, for example, an and electricalpower circuit configured to supply power from the batteries to thehandle systems 2800 and 2900. In at least one such embodiment, thehandle control system 1800 and the handle communication system 1900 arepowered by the handle electrical power system and the shaft controlsystem 2800 and the handle communication system 2900 are powered by theshaft electrical power system.

Further to the above, the actuation of the clamping trigger 2610 isdetected by the shaft control system 2800 and communicated to the handlecontrol system 1800 via the communication systems 2900 and 1900. Uponreceiving a signal that the clamping trigger 2610 has been actuated, thehandle control system 1800 supplies power to the electric motor 1610 ofthe motor assembly 1600 to rotate the drive shaft 1710 of the handledrive system 1700, and the drive shaft 2710 of the shaft drive system2700, in a direction which closes the jaw assembly 7100 of the endeffector 7000. The mechanism for converting the rotation of the driveshaft 2710 to a closure motion of the jaw assembly 7100 is discussed ingreater detail below. So long as the clamping trigger 2610 is held inits actuated position, the electric motor 1610 will rotate the driveshaft 1710 until the jaw assembly 7100 reaches its fully-clampedposition. When the jaw assembly 7100 reaches its fully-clamped position,the handle control system 1800 cuts the electrical power to the electricmotor 1610. The handle control system 1800 can determine when the jawassembly 7100 has reached its fully-clamped position in any suitablemanner. For instance, the handle control system 1800 can comprise anencoder system which monitors the rotation of, and counts the rotationsof, the output shaft of the electric motor 1610 and, once the number ofrotations reaches a predetermined threshold, the handle control system1800 can discontinue supplying power to the electric motor 1610. In atleast one instance, the end effector assembly 7000 can comprise one ormore sensors configured to detect when the jaw assembly 7100 has reachedits fully-clamped position. In at least one such instance, the sensorsin the end effector 7000 are in signal communication with the handlecontrol system 1800 via electrical circuits extending through the shaftassembly 2000 which can include the electrical contacts 1520 and 2520,for example.

When the clamping trigger 2610 is rotated distally out of its proximalposition, the switch 2115 is opened which is detected by the shaftcontrol system 2800 and communicated to the handle control system 1800via the communication systems 2900 and 1900. Upon receiving a signalthat the clamping trigger 2610 has been moved out of its actuatedposition, the handle control system 1800 reverses the polarity of thevoltage differential being applied to the electric motor 1610 of themotor assembly 1600 to rotate the drive shaft 1710 of the handle drivesystem 1700, and the drive shaft 2710 of the shaft drive system 2700, inan opposite direction which, as a result, opens the jaw assembly 7100 ofthe end effector 7000. When the jaw assembly 7100 reaches its fully-openposition, the handle control system 1800 cuts the electrical power tothe electric motor 1610. The handle control system 1800 can determinewhen the jaw assembly 7100 has reached its fully-open position in anysuitable manner. For instance, the handle control system 1800 canutilize the encoder system and/or the one or more sensors describedabove to determine the configuration of the jaw assembly 7100. In viewof the above, the clinician needs to be mindful about holding theclamping trigger 2610 in its actuated position in order to maintain thejaw assembly 7100 in its clamped configuration as, otherwise, thecontrol system 1800 will open jaw assembly 7100. With this in mind, theshaft assembly 2000 further comprises an actuator latch 2630 configuredto releasably hold the clamping trigger 2610 in its actuated position toprevent the accidental opening of the jaw assembly 7100. The actuatorlatch 2630 can be manually released, or otherwise defeated, by theclinician to allow the clamping trigger 2610 to be rotated distally andopen the jaw assembly 7100.

The clamping trigger system 2600 further comprises a resilient biasingmember, such as a torsion spring, for example, configured to resist theclosure of the clamping trigger system 2600. The torsion spring can alsoassist in reducing and/or mitigating sudden movements and/or jitter ofthe clamping trigger 2610. Such a torsion spring can also automaticallyreturn the clamping trigger 2610 to its unactuated position when theclamping trigger 2610 is released. The actuator latch 2630 discussedabove can suitably hold the clamping trigger 2610 in its actuatedposition against the biasing force of the torsion spring.

As discussed above, the control system 1800 operates the electric motor1610 to open and close the jaw assembly 7100. The control system 1800 isconfigured to open and close the jaw assembly 7100 at the same speed. Insuch instances, the control system 1800 applies the same voltage pulsesto the electric motor 1610, albeit with different voltage polarities,when opening and closing the jaw assembly 7100. That said, the controlsystem 1800 can be configured to open and close the jaw assembly 7100 atdifferent speeds. For instance, the jaw assembly 7100 can be closed at afirst speed and opened at a second speed which is faster than the firstspeed. In such instances, the slower closing speed affords the clinicianan opportunity to better position the jaw assembly 7100 while clampingthe tissue. Alternatively, the control system 1800 can open the jawassembly 7100 at a slower speed. In such instances, the slower openingspeed reduces the possibility of the opening jaws colliding withadjacent tissue. In either event, the control system 1800 can decreasethe duration of the voltage pulses and/or increase the duration betweenthe voltage pulses to slow down and/or speed up the movement of the jawassembly 7100.

As discussed above, the control system 1800 is configured to interpretthe position of the clamping trigger 2610 as a command to position thejaw assembly 7100 in a specific configuration. For instance, the controlsystem 1800 is configured to interpret the proximal-most position of theclamping trigger 2610 as a command to close the jaw assembly 7100 andany other position of the clamping trigger as a command to open the jawassembly 7100. That said, the control system 1800 can be configured tointerpret the position of the clamping trigger 2610 in a proximal rangeof positions, instead of a single position, as a command to close thejaw assembly 7100. Such an arrangement can allow the jaw assembly 7000to be better responsive to the clinician's input. In such instances, therange of motion of the clamping trigger 2610 is divided into ranges—aproximal range which is interpreted as a command to close the jawassembly 7100 and a distal range which is interpreted as a command toopen the jaw assembly 7100. In at least one instance, the range ofmotion of the clamping trigger 2610 can have an intermediate rangebetween the proximal range and the distal range. When the clampingtrigger 2610 is in the intermediate range, the control system 1800 caninterpret the position of the clamping trigger 2610 as a command toneither open nor close the jaw assembly 7100. Such an intermediate rangecan prevent, or reduce the possibility of, jitter between the openingand closing ranges. In the instances described above, the control system1800 can be configured to ignore cumulative commands to open or closethe jaw assembly 7100. For instance, if the closure trigger 2610 hasalready been fully retracted into its proximal-most position, thecontrol assembly 1800 can ignore the motion of the clamping trigger 2610in the proximal, or clamping, range until the clamping trigger 2610enters into the distal, or opening, range wherein, at such point, thecontrol system 1800 can then actuate the electric motor 1610 to open thejaw assembly 7100.

In certain instances, further to the above, the position of the clampingtrigger 2610 within the clamping trigger range, or at least a portion ofthe clamping trigger range, can allow the clinician to control the speedof the electric motor 1610 and, thus, the speed in which the jawassembly 7100 is being opened or closed by the control assembly 1800. Inat least one instance, the sensor 2115 comprises a Hall Effect sensor,and/or any other suitable sensor, configured to detect the position ofthe clamping trigger 2610 between its distal, unactuated position andits proximal, fully-actuated position. The Hall Effect sensor isconfigured to transmit a signal to the handle control system 1800 viathe shaft control system 2800 such that the handle control system 1800can control the speed of the electric motor 1610 in response to theposition of the clamping trigger 2610. In at least one instance, thehandle control system 1800 controls the speed of the electric motor 1610proportionately, or in a linear manner, to the position of the clampingtrigger 2610. For example, if the clamping trigger 2610 is moved halfway through its range, then the handle control system 1800 will operatethe electric motor 1610 at half of the speed in which the electric motor1610 is operated when the clamping trigger 2610 is fully-retracted.Similarly, if the clamping trigger 2610 is moved a quarter way throughits range, then the handle control system 1800 will operate the electricmotor 1610 at a quarter of the speed in which the electric motor 1610 isoperated when the clamping trigger 2610 is fully-retracted. Otherembodiments are envisioned in which the handle control system 1800controls the speed of the electric motor 1610 in a non-linear manner tothe position of the clamping trigger 2610. In at least one instance, thecontrol system 1800 operates the electric motor 1610 slowly in thedistal portion of the clamping trigger range while quickly acceleratingthe speed of the electric motor 1610 in the proximal portion of theclamping trigger range.

As described above, the clamping trigger 2610 is movable to operate theelectric motor 1610 to open or close the jaw assembly 7100 of the endeffector 7000. The electric motor 1610 is also operable to rotate theend effector 7000 about a longitudinal axis and articulate the endeffector 7000 relative to the elongate shaft 2200 about the articulationjoint 2300 of the shaft assembly 2000. Referring primarily to FIGS. 7and 8, the drive module 1100 comprises an input system 1400 including arotation actuator 1420 and an articulation actuator 1430. The inputsystem 1400 further comprises a printed circuit board (PCB) 1410 whichis in signal communication with the printed circuit board (PCB) 1810 ofthe control system 1800. The drive module 1100 comprises an electricalcircuit, such as a flexible wiring harness or ribbon, for example, whichpermits the input system 1400 to communicate with the control system1800. The rotation actuator 1420 is rotatably supported on the housing1110 and is in signal communication with the input board 1410 and/orcontrol board 1810, as described in greater detail below. Thearticulation actuator 1430 is supported by and in signal communicationwith the input board 1410 and/or control board 1810, as also describedin greater detail below.

Referring primarily to FIGS. 8, 10, and 11, further to the above, thehandle housing 1110 comprises an annular groove or slot defined thereinadjacent the distal mounting interface 1130. The rotation actuator 1420comprises an annular ring 1422 rotatably supported within the annulargroove and, owing to the configuration of the sidewalls of the annulargroove, the annular ring 1422 is constrained from translatinglongitudinally and/or laterally with respect to the handle housing 1110.The annular ring 1422 is rotatable in a first, or clockwise, directionand a second, or counter-clockwise direction, about a longitudinal axisextending through the frame 1500 of the drive module 1100. The rotationactuator 1420 comprises one or more sensors configured to detect therotation of the annular ring 1422. In at least one instance, therotation actuator 1420 comprises a first sensor positioned on a firstside of the drive module 1100 and a second sensor positioned on asecond, or opposite, side of the drive module 1100 and the annular ring1422 comprises a detectable element which is detectable by the first andsecond sensors. The first sensor is configured to detect when theannular ring 1422 is rotated in the first direction and the secondsensor is configured to detect when the annular ring 1422 is rotated inthe second direction. When the first sensor detects that the annularring 1422 is rotated in the first direction, the handle control system1800 rotates the handle drive shaft 1710, the drive shaft 2710, and theend effector 7000 in the first direction, as described in greater detailbelow. Similarly, the handle control system 1800 rotates the handledrive shaft 1710, the drive shaft 2710, and the end effector 7000 in thesecond direction when the second sensor detects that the annular ring1422 is rotated in the second direction. In view of the above, thereader should appreciate that the clamping trigger 2610 and the rotationactuator 1420 are both operable to rotate the drive shaft 2710.

In various embodiments, further to the above, the first and secondsensors comprise switches which are mechanically closable by thedetectable element of the annular ring 1422. When the annular ring 1422is rotated in the first direction from a center position, the detectableelement closes the switch of the first sensor. When the switch of thefirst sensor is closed, the control system 1800 operates the electricmotor 1610 to rotate the end effector 7000 in the first direction. Whenthe annular ring 1422 is rotated in the second direction toward thecenter position, the detectable element is disengaged from the firstswitch and the first switch is re-opened. Once the first switch isre-opened, the control system 1800 cuts the power to the electric motor1610 to stop the rotation of the end effector 7000. Similarly, thedetectable element closes the switch of the second sensor when theannular ring 1422 is rotated in the second direction from the centerposition. When the switch of the second sensor is closed, the controlsystem 1800 operates the electric motor 1610 to rotate the end effector7000 in the second direction. When the annular ring 1422 is rotated inthe first direction toward the center position, the detectable elementis disengaged from the second switch and the second switch is re-opened.Once the second switch is re-opened, the control system 1800 cuts thepower to the electric motor 1610 to stop the rotation of the endeffector 7000.

In various embodiments, further to the above, the first and secondsensors of the rotation actuator 1420 comprise proximity sensors, forexample. In certain embodiments, the first and second sensors of therotation actuator 1420 comprise Hall Effect sensors, and/or any suitablesensors, configured to detect the distance between the detectableelement of the annular ring 1422 and the first and second sensors. Ifthe first Hall Effect sensor detects that the annular ring 1422 has beenrotated in the first direction, then, as discussed above, the controlsystem 1800 will rotate the end effector 7000 in the first direction. Inaddition, the control system 1800 can rotate the end effector 7000 at afaster speed when the detectable element is closer to the first HallEffect sensor than when the detectable element is further away from thefirst Hall Effect sensor. If the second Hall Effect sensor detects thatthe annular ring 1422 has been rotated in the second direction, then, asdiscussed above, the control system 1800 will rotate the end effector7000 in the second direction. In addition, the control system 1800 canrotate the end effector 7000 at a faster speed when the detectableelement is closer to the second Hall Effect sensor than when thedetectable element is further away from the second Hall Effect sensor.As a result, the speed in which the end effector 7000 is rotated is afunction of the amount, or degree, in which the annular ring 1422 isrotated. The control system 1800 is further configured to evaluate theinputs from both the first and second Hall Effect sensors whendetermining the direction and speed in which to rotate the end effector7000. In various instances, the control system 1800 can use the closestHall Effect sensor to the detectable element of the annular ring 1422 asa primary source of data and the Hall Effect sensor furthest away fromthe detectable element as a confirmational source of data todouble-check the data provided by the primary source of data. Thecontrol system 1800 can further comprise a data integrity protocol toresolve situations in which the control system 1800 is provided withconflicting data. In any event, the handle control system 1800 can enterinto a neutral state in which the handle control system 1800 does notrotate the end effector 7000 when the Hall Effect sensors detect thatthe detectable element is in its center position, or in a position whichis equidistant between the first Hall Effect sensor and the second HallEffect sensor. In at least one such instance, the control system 1800can enter into its neutral state when the detectable element is in acentral range of positions. Such an arrangement would prevent, or atleast reduce the possibility of, rotational jitter when the clinician isnot intending to rotate the end effector 7000.

Further to the above, the rotation actuator 1420 can comprise one ormore springs configured to center, or at least substantially center, therotation actuator 1420 when it is released by the clinician. In suchinstances, the springs can act to shut off the electric motor 1610 andstop the rotation of the end effector 7000. In at least one instance,the rotation actuator 1420 comprises a first torsion spring configuredto rotate the rotation actuator 1420 in the first direction and a secondtorsion spring configured to rotate the rotation actuator 1420 in thesecond direction. The first and second torsion springs can have thesame, or at least substantially the same, spring constant such that theforces and/or torques applied by the first and second torsion springsbalance, or at least substantially balance, the rotation actuator 1420in its center position.

In view of the above, the reader should appreciate that the clampingtrigger 2610 and the rotation actuator 1420 are both operable to rotatethe drive shaft 2710 and either, respectively, operate the jaw assembly7100 or rotate the end effector 7000. The system that uses the rotationof the drive shaft 2710 to selectively perform these functions isdescribed in greater detail below.

Referring to FIGS. 7 and 8, the articulation actuator 1430 comprises afirst push button 1432 and a second push button 1434. The first pushbutton 1432 is part of a first articulation control circuit and thesecond push button 1434 is part of a second articulation circuit of theinput system 1400. The first push button 1432 comprises a first switchthat is closed when the first push button 1432 is depressed. The handlecontrol system 1800 is configured to sense the closure of the firstswitch and, moreover, the closure of the first articulation controlcircuit. When the handle control system 1800 detects that the firstarticulation control circuit has been closed, the handle control system1800 operates the electric motor 1610 to articulate the end effector7000 in a first articulation direction about the articulation joint2300. When the first push button 1432 is released by the clinician, thefirst articulation control circuit is opened which, once detected by thecontrol system 1800, causes the control system 1800 to cut the power tothe electric motor 1610 to stop the articulation of the end effector7000.

In various instances, further to the above, the articulation range ofthe end effector 7000 is limited and the control system 1800 can utilizethe encoder system discussed above for monitoring the rotational outputof the electric motor 1610, for example, to monitor the amount, ordegree, in which the end effector 7000 is rotated in the firstdirection. In addition to or in lieu of the encoder system, the shaftassembly 2000 can comprise a first sensor configured to detect when theend effector 7000 has reached the limit of its articulation in the firstdirection. In any event, when the control system 1800 determines thatthe end effector 7000 has reached the limit of articulation in the firstdirection, the control system 1800 can cut the power to the electricmotor 1610 to stop the articulation of the end effector 7000.

Similar to the above, the second push button 1434 comprises a secondswitch that is closed when the second push button 1434 is depressed. Thehandle control system 1800 is configured to sense the closure of thesecond switch and, moreover, the closure of the second articulationcontrol circuit. When the handle control system 1800 detects that thesecond articulation control circuit has been closed, the handle controlsystem 1800 operates the electric motor 1610 to articulate the endeffector 7000 in a second direction about the articulation joint 2300.When the second push button 1434 is released by the clinician, thesecond articulation control circuit is opened which, once detected bythe control system 1800, causes the control system 1800 to cut the powerto the electric motor 1610 to stop the articulation of the end effector7000.

In various instances, the articulation range of the end effector 7000 islimited and the control system 1800 can utilize the encoder systemdiscussed above for monitoring the rotational output of the electricmotor 1610, for example, to monitor the amount, or degree, in which theend effector 7000 is rotated in the second direction. In addition to orin lieu of the encoder system, the shaft assembly 2000 can comprise asecond sensor configured to detect when the end effector 7000 hasreached the limit of its articulation in the second direction. In anyevent, when the control system 1800 determines that the end effector7000 has reached the limit of articulation in the second direction, thecontrol system 1800 can cut the power to the electric motor 1610 to stopthe articulation of the end effector 7000.

As described above, the end effector 7000 is articulatable in a firstdirection (FIG. 16) and/or a second direction (FIG. 17) from a center,or unarticulated, position (FIG. 15). Once the end effector 7000 hasbeen articulated, the clinician can attempt to re-center the endeffector 7000 by using the first and second articulation push buttons1432 and 1434. As the reader can appreciate, the clinician may struggleto re-center the end effector 7000 as, for instance, the end effector7000 may not be entirely visible once it is positioned in the patient.In some instances, the end effector 7000 may not fit back through atrocar if the end effector 7000 is not re-centered, or at leastsubstantially re-centered. With that in mind, the control system 1800 isconfigured to provide feedback to the clinician when the end effector7000 is moved into its unarticulated, or centered, position. In at leastone instance, the feedback comprises audio feedback and the handlecontrol system 1800 can comprise a speaker which emits a sound, such asa beep, for example, when the end effector 7000 is centered. In certaininstances, the feedback comprises visual feedback and the handle controlsystem 1800 can comprise a light emitting diode (LED), for example,positioned on the handle housing 1110 which flashes when the endeffector 7000 is centered. In various instances, the feedback compriseshaptic feedback and the handle control system 1800 can comprise anelectric motor comprising an eccentric element which vibrates the handle1000 when the end effector 7000 is centered. Manually re-centering theend effector 7000 in this way can be facilitated by the control system1800 slowing the motor 1610 when the end effector 7000 is approachingits centered position. In at least one instance, the control system 1800slows the articulation of the end effector 7000 when the end effector7000 is within approximately 5 degrees of center in either direction,for example.

In addition to or in lieu of the above, the handle control system 1800can be configured to re-center the end effector 7000. In at least onesuch instance, the handle control system 1800 can re-center the endeffector 7000 when both of the articulation buttons 1432 and 1434 of thearticulation actuator 1430 are depressed at the same time. When thehandle control system 1800 comprises an encoder system configured tomonitor the rotational output of the electric motor 1610, for example,the handle control system 1800 can determine the amount and direction ofarticulation needed to re-center, or at least substantially re-center,the end effector 7000. In various instances, the input system 1400 cancomprise a home button, for example, which, when depressed,automatically centers the end effector 7000.

Referring primarily to FIGS. 5 and 6, the elongate shaft 2200 of theshaft assembly 2000 comprises an outer housing, or tube, 2210 mounted tothe proximal housing 2110 of the proximal portion 2100. The outerhousing 2210 comprises a longitudinal aperture 2230 extendingtherethrough and a proximal flange 2220 which secures the outer housing2210 to the proximal housing 2110. The frame 2500 of the shaft assembly2000 extends through the longitudinal aperture 2230 of the elongateshaft 2200. More specifically, the shaft 2510 of the shaft frame 2500necks down into a smaller shaft 2530 which extends through thelongitudinal aperture 2230. That said, the shaft frame 2500 can compriseany suitable arrangement. The drive system 2700 of the shaft assembly2000 also extends through the longitudinal aperture 2230 of the elongateshaft 2200. More specifically, the drive shaft 2710 of the shaft drivesystem 2700 necks down into a smaller drive shaft 2730 which extendsthrough the longitudinal aperture 2230. That said, the shaft drivesystem 2700 can comprise any suitable arrangement.

Referring primarily to FIGS. 20, 23, and 24, the outer housing 2210 ofthe elongate shaft 2200 extends to the articulation joint 2300. Thearticulation joint 2300 comprises a proximal frame 2310 mounted to theouter housing 2210 such that there is little, if any, relativetranslation and/or rotation between the proximal frame 2310 and theouter housing 2210. Referring primarily to FIG. 22, the proximal frame2310 comprises an annular portion 2312 mounted to the sidewall of theouter housing 2210 and tabs 2314 extending distally from the annularportion 2312. The articulation joint 2300 further comprises links 2320and 2340 which are rotatably mounted to the frame 2310 and mounted to anouter housing 2410 of the distal attachment portion 2400. The link 2320comprises a distal end 2322 mounted to the outer housing 2410. Morespecifically, the distal end 2322 of the link 2320 is received andfixedly secured within a mounting slot 2412 defined in the outer housing2410. Similarly, the link 2340 comprises a distal end 2342 mounted tothe outer housing 2410. More specifically, the distal end 2342 of thelink 2340 is received and fixedly secured within a mounting slot definedin the outer housing 2410. The link 2320 comprises a proximal end 2324rotatably coupled to a tab 2314 of the proximal articulation frame 2310.Although not illustrated in FIG. 22, a pin extends through aperturesdefined in the proximal end 2324 and the tab 2314 to define a pivot axistherebetween. Similarly, the link 2340 comprises a proximal end 2344rotatably coupled to a tab 2314 of the proximal articulation frame 2310.Although not illustrated in FIG. 22, a pin extends through aperturesdefined in the proximal end 2344 and the tab 2314 to define a pivot axistherebetween. These pivot axes are collinear, or at least substantiallycollinear, and define an articulation axis A of the articulation joint2300.

Referring primarily to FIGS. 20, 23, and 24, the outer housing 2410 ofthe distal attachment portion 2400 comprises a longitudinal aperture2430 extending therethrough. The longitudinal aperture 2430 isconfigured to receive a proximal attachment portion 7400 of the endeffector 7000. The end effector 7000 comprises an outer housing 6230which is closely received within the longitudinal aperture 2430 of thedistal attachment portion 2400 such that there is little, if any,relative radial movement between the proximal attachment portion 7400 ofthe end effector 7000 and the distal attachment portion 2400 of theshaft assembly 2000. The proximal attachment portion 7400 furthercomprises an annular array of lock notches 7410 defined on the outerhousing 6230 which is releasably engaged by an end effector lock 6400 inthe distal attachment portion 2400 of the shaft assembly 2000. When theend effector lock 6400 is engaged with the array of lock notches 7410,the end effector lock 6400 prevents, or at least inhibits, relativelongitudinal movement between the proximal attachment portion 7400 ofthe end effector 7000 and the distal attachment portion 2400 of theshaft assembly 2000. As a result of the above, only relative rotationbetween the proximal attachment portion 7400 of the end effector 7000and the distal attachment portion 2400 of the shaft assembly 2000 ispermitted. To this end, the outer housing 6230 of the end effector 7000is closely received within the longitudinal aperture 2430 defined in thedistal attachment portion 2400 of the shaft assembly 2000.

Further to the above, referring to FIG. 21, the outer housing 6230further comprises an annular slot, or recess, 6270 defined therein whichis configured to receive an O-ring 6275 therein. The O-ring 6275 iscompressed between the outer housing 6230 and the sidewall of thelongitudinal aperture 2430 when the end effector 7000 is inserted intothe distal attachment portion 2400. The O-ring 6275 is configured toresist, but permit, relative rotation between the end effector 7000 andthe distal attachment portion 2400 such that the O-ring 6275 canprevent, or reduce the possibility of, unintentional relative rotationbetween the end effector 7000 and the distal attachment portion 2400. Invarious instances, the O-ring 6275 can provide a seal between the endeffector 7000 and the distal attachment portion 2400 to prevent, or atleast reduce the possibility of, fluid ingress into the shaft assembly2000, for example.

Referring to FIGS. 14-21, the jaw assembly 7100 of the end effector 7000comprises a first jaw 7110 and a second jaw 7120. Each jaw 7110, 7120comprises a distal end which is configured to assist a clinician indissecting tissue with the end effector 7000. Each jaw 7110, 7120further comprises a plurality of teeth which are configured to assist aclinician in grasping and holding onto tissue with the end effector7000. Moreover, referring primarily to FIG. 21, each jaw 7110, 7120comprises a proximal end, i.e., proximal ends 7115, 7125, respectively,which rotatably connect the jaws 7110, 7120 together. Each proximal end7115, 7125 comprises an aperture extending therethrough which isconfigured to closely receive a pin 7130 therein. The pin 7130 comprisesa central body 7135 closely received within the apertures defined in theproximal ends 7115, 7125 of the jaws 7110, 7120 such that there islittle, if any, relative translation between the jaws 7110, 7120 and thepin 7130. The pin 7130 defines a jaw axis J about which the jaws 7110,7120 can be rotated and, also, rotatably mounts the jaws 7110, 7120 tothe outer housing 6230 of the end effector 7000. More specifically, theouter housing 6230 comprises distally-extending tabs 6235 havingapertures defined therein which are also configured to closely receivethe pin 7130 such that the jaw assembly 7100 does not translate relativeto a shaft portion 7200 of the end effector 7000. The pin 7130 furthercomprises enlarged ends which prevent the jaws 7110, 7120 from becomingdetached from the pin 7130 and also prevents the jaw assembly 7100 frombecoming detached from the shaft portion 7200. This arrangement definesa rotation joint 7300.

Referring primarily to FIGS. 21 and 23, the jaws 7110 and 7120 arerotatable between their open and closed positions by a jaw assemblydrive including drive links 7140, a drive nut 7150, and a drive screw6130. As described in greater detail below, the drive screw 6130 isselectively rotatable by the drive shaft 2730 of the shaft drive system2700. The drive screw 6130 comprises an annular flange 6132 which isclosely received within a slot, or groove, 6232 (FIG. 25) defined in theouter housing 6230 of the end effector 7000. The sidewalls of the slot6232 are configured to prevent, or at least inhibit, longitudinal and/orradial translation between the drive screw 6130 and the outer housing6230, but yet permit relative rotational motion between the drive screw6130 and the outer housing 6230. The drive screw 6130 further comprisesa threaded end 6160 which is threadably engaged with a threaded aperture7160 defined in the drive nut 7150. The drive nut 7150 is constrainedfrom rotating with the drive screw 6130 and, as a result, the drive nut7150 is translated when the drive screw 6130 is rotated. In use, thedrive screw 6130 is rotated in a first direction to displace the drivenut 7150 proximally and in a second, or opposite, direction to displacethe drive nut 7150 distally. The drive nut 7150 further comprises adistal end 7155 comprising an aperture defined therein which isconfigured to closely receive pins 7145 extending from the drive links7140. Referring primarily to FIG. 21, a first drive link 7140 isattached to one side of the distal end 7155 and a second drive link 7140is attached to the opposite side of the distal end 7155. The first drivelink 7140 comprises another pin 7145 extending therefrom which isclosely received in an aperture defined in the proximal end 7115 of thefirst jaw 7110 and, similarly, the second drive link 7140 comprisesanother pin extending therefrom which is closely received in an aperturedefined in the proximal end 7125 of the second jaw 7120. As a result ofthe above, the drive links 7140 operably connect the jaws 7110 and 7120to the drive nut 7150. When the drive nut 7150 is driven proximally bythe drive screw 6130, as described above, the jaws 7110, 7120 arerotated into the closed, or clamped, configuration. Correspondingly, thejaws 7110, 7120 are rotated into their open configuration when the drivenut 7150 is driven distally by the drive screw 6130.

As discussed above, the control system 1800 is configured to actuate theelectric motor 1610 to perform three different end effectorfunctions—clamping/opening the jaw assembly 7100 (FIGS. 14 and 15),rotating the end effector 7000 about a longitudinal axis (FIGS. 18 and19), and articulating the end effector 7000 about an articulation axis(FIGS. 16 and 17). Referring primarily to FIGS. 26 and 27, the controlsystem 1800 is configured to operate a transmission 6000 to selectivelyperform these three end effector functions. The transmission 6000comprises a first clutch system 6100 configured to selectively transmitthe rotation of the drive shaft 2730 to the drive screw 6130 of the endeffector 7000 to open or close the jaw assembly 7100, depending on thedirection in which the drive shaft 2730 is rotated. The transmission6000 further comprises a second clutch system 6200 configured toselectively transmit the rotation of the drive shaft 2730 to the outerhousing 6230 of the end effector 7000 to rotate the end effector 7000about the longitudinal axis L. The transmission 6000 also comprises athird clutch system 6300 configured to selectively transmit the rotationof the drive shaft 2730 to the articulation joint 2300 to articulate thedistal attachment portion 2400 and the end effector 7000 about thearticulation axis A. The clutch systems 6100, 6200, and 6300 are inelectrical communication with the control system 1800 via electricalcircuits extending through the shaft 2510, the connector pins 2520, theconnector pins 1520, and the shaft 1510, for example. In at least oneinstance, each of these clutch control circuits comprises two connectorpins 2520 and two connector pins 1520, for example.

In various instances, further to the above, the shaft 2510 and/or theshaft 1510 comprise a flexible circuit including electrical traces whichform part of the clutch control circuits. The flexible circuit cancomprise a ribbon, or substrate, with conductive pathways definedtherein and/or thereon. The flexible circuit can also comprise sensorsand/or any solid state component, such as signal smoothing capacitors,for example, mounted thereto. In at least one instance, each of theconductive pathways can comprise one or more signal smoothing capacitorswhich can, among other things, even out fluctuations in signalstransmitted through the conductive pathways. In various instances, theflexible circuit can be coated with at least one material, such as anelastomer, for example, which can seal the flexible circuit againstfluid ingress.

Referring primarily to FIG. 28, the first clutch system 6100 comprises afirst clutch 6110, an expandable first drive ring 6120, and a firstelectromagnetic actuator 6140. The first clutch 6110 comprises anannular ring and is slideably disposed on the drive shaft 2730. Thefirst clutch 6110 is comprised of a magnetic material and is movablebetween a disengaged, or unactuated, position (FIG. 28) and an engaged,or actuated, position (FIG. 29) by electromagnetic fields EF generatedby the first electromagnetic actuator 6140. In various instances, thefirst clutch 6110 is at least partially comprised of iron and/or nickel,for example. In at least one instance, the first clutch 6110 comprises apermanent magnet. As illustrated in FIG. 22A, the drive shaft 2730comprises one or more longitudinal key slots 6115 defined therein whichare configured to constrain the longitudinal movement of the clutch 6110relative to the drive shaft 2730. More specifically, the clutch 6110comprises one or more keys extending into the key slots 6115 such thatthe distal ends of the key slots 6115 stop the distal movement of theclutch 6110 and the proximal ends of the key slots 6115 stop theproximal movement of the clutch 6110.

When the first clutch 6110 is in its disengaged position (FIG. 28), thefirst clutch 6110 rotates with the drive shaft 2130 but does nottransmit rotational motion to the first drive ring 6120. As can be seenin FIG. 28, the first clutch 6110 is separated from, or not in contactwith, the first drive ring 6120. As a result, the rotation of the driveshaft 2730 and the first clutch 6110 is not transmitted to the drivescrew 6130 when the first clutch assembly 6100 is in its disengagedstate. When the first clutch 6110 is in its engaged position (FIG. 29),the first clutch 6110 is engaged with the first drive ring 6120 suchthat the first drive ring 6120 is expanded, or stretched, radiallyoutwardly into contact with the drive screw 6130. In at least oneinstance, the first drive ring 6120 comprises an elastomeric band, forexample. As can be seen in FIG. 29, the first drive ring 6120 iscompressed against an annular inner sidewall 6135 of the drive screw6130. As a result, the rotation of the drive shaft 2730 and the firstclutch 6110 is transmitted to the drive screw 6130 when the first clutchassembly 6100 is in its engaged state. Depending on the direction inwhich the drive shaft 2730 is rotated, the first clutch assembly 6100can move the jaw assembly 7100 into its open and closed configurationswhen the first clutch assembly 6100 is in its engaged state.

As described above, the first electromagnetic actuator 6140 isconfigured to generate magnetic fields to move the first clutch 6110between its disengaged (FIG. 28) and engaged (FIG. 29) positions. Forinstance, referring to FIG. 28, the first electromagnetic actuator 6140is configured to emit a magnetic field EF_(L) which repulses, or drives,the first clutch 6110 away from the first drive ring 6120 when the firstclutch assembly 6100 is in its disengaged state. The firstelectromagnetic actuator 6140 comprises one or more wound coils in acavity defined in the shaft frame 2530 which generate the magnetic fieldEF_(L) when current flows in a first direction through a firstelectrical clutch circuit including the wound coils. The control system1800 is configured to apply a first voltage polarity to the firstelectrical clutch circuit to create the current flowing in the firstdirection. The control system 1800 can continuously apply the firstvoltage polarity to the first electric shaft circuit to continuouslyhold the first clutch 6110 in its disengaged position. While such anarrangement can prevent the first clutch 6110 from unintentionallyengaging the first drive ring 6120, such an arrangement can also consumea lot of power. Alternatively, the control system 1800 can apply thefirst voltage polarity to the first electrical clutch circuit for asufficient period of time to position the first clutch 6110 in itsdisengaged position and then discontinue applying the first voltagepolarity to the first electric clutch circuit, thereby resulting in alower consumption of power. That being said, the first clutch assembly6100 further comprises a first clutch lock 6150 mounted in the drivescrew 6130 which is configured to releasably hold the first clutch 6110in its disengaged position. The first clutch lock 6150 is configured toprevent, or at least reduce the possibility of, the first clutch 6110from becoming unintentionally engaged with the first drive ring 6120.When the first clutch 6110 is in its disengaged position, as illustratedin FIG. 28, the first clutch lock 6150 interferes with the free movementof the first clutch 6110 and holds the first clutch 6110 in position viaa friction force and/or an interference force therebetween. In at leastone instance, the first clutch lock 6150 comprises an elastomeric plug,seat, or detent, comprised of rubber, for example. In certain instances,the first clutch lock 6150 comprises a permanent magnet which holds thefirst clutch 6110 in its disengaged position by an electromagneticforce. In any event, the first electromagnetic actuator 6140 can applyan electromagnetic pulling force to the first clutch 6110 that overcomesthese forces, as described in greater detail below.

Further to the above, referring to FIG. 29, the first electromagneticactuator 6140 is configured to emit a magnetic field EF_(D) which pulls,or drives, the first clutch 6110 toward the first drive ring 6120 whenthe first clutch assembly 6100 is in its engaged state. The coils of thefirst electromagnetic actuator 6140 generate the magnetic field EF_(D)when current flows in a second, or opposite, direction through the firstelectrical clutch circuit. The control system 1800 is configured toapply an opposite voltage polarity to the first electrical clutchcircuit to create the current flowing in the opposite direction. Thecontrol system 1800 can continuously apply the opposite voltage polarityto the first electrical clutch circuit to continuously hold the firstclutch 6110 in its engaged position and maintain the operable engagementbetween the first drive ring 6120 and the drive screw 6130.Alternatively, the first clutch 6110 can be configured to become wedgedwithin the first drive ring 6120 when the first clutch 6110 is in itsengaged position and, in such instances, the control system 1800 may notneed to continuously apply a voltage polarity to the first electricalclutch circuit to hold the first clutch assembly 6100 in its engagedstate. In such instances, the control system 1800 can discontinueapplying the voltage polarity once the first clutch 6110 has beensufficiently wedged in the first drive ring 6120.

Notably, further to the above, the first clutch lock 6150 is alsoconfigured to lockout the jaw assembly drive when the first clutch 6110is in its disengaged position. More specifically, referring again toFIG. 28, the first clutch 6110 pushes the first clutch lock 6150 in thedrive screw 6130 into engagement with the outer housing 6230 of the endeffector 7000 when the first clutch 6110 is in its disengaged positionsuch that the drive screw 6130 does not rotate, or at leastsubstantially rotate, relative to the outer housing 6230. The outerhousing 6230 comprises a slot 6235 defined therein which is configuredto receive the first clutch lock 6150. When the first clutch 6110 ismoved into its engaged position, referring to FIG. 29, the first clutch6110 is no longer engaged with the first clutch lock 6150 and, as aresult, the first clutch lock 6150 is no longer biased into engagementwith the outer housing 6230 and the drive screw 6130 can rotate freelywith respect to the outer housing 6230. As a result of the above, thefirst clutch 6110 can do at least two things—operate the jaw drive whenthe first clutch 6110 is in its engaged position and lock out the jawdrive when the first clutch 6110 is in its disengaged position.

Moreover, further to the above, the threads of the threaded portions6160 and 7160 can be configured to prevent, or at least resist,backdriving of the jaw drive. In at least one instance, the thread pitchand/or angle of the threaded portions 6160 and 7160, for example, can beselected to prevent the backdriving, or unintentional opening, of thejaw assembly 7100. As a result of the above, the possibility of the jawassembly 7100 unintentionally opening or closing is prevented, or atleast reduced.

Referring primarily to FIG. 30, the second clutch system 6200 comprisesa second clutch 6210, an expandable second drive ring 6220, and a secondelectromagnetic actuator 6240. The second clutch 6210 comprises anannular ring and is slideably disposed on the drive shaft 2730. Thesecond clutch 6210 is comprised of a magnetic material and is movablebetween a disengaged, or unactuated, position (FIG. 30) and an engaged,or actuated, position (FIG. 31) by electromagnetic fields EF generatedby the second electromagnetic actuator 6240. In various instances, thesecond clutch 6210 is at least partially comprised of iron and/ornickel, for example. In at least one instance, the second clutch 6210comprises a permanent magnet. As illustrated in FIG. 22A, the driveshaft 2730 comprises one or more longitudinal key slots 6215 definedtherein which are configured to constrain the longitudinal movement ofthe second clutch 6210 relative to the drive shaft 2730. Morespecifically, the second clutch 6210 comprises one or more keysextending into the key slots 6215 such that the distal ends of the keyslots 6215 stop the distal movement of the second clutch 6210 and theproximal ends of the key slots 6215 stop the proximal movement of thesecond clutch 6210.

When the second clutch 6210 is in its disengaged position, referring toFIG. 30, the second clutch 6210 rotates with the drive shaft 2730 butdoes not transmit rotational motion to the second drive ring 6220. Ascan be seen in FIG. 30, the second clutch 6210 is separated from, or notin contact with, the second drive ring 6220. As a result, the rotationof the drive shaft 2730 and the second clutch 6210 is not transmitted tothe outer housing 6230 of the end effector 7000 when the second clutchassembly 6200 is in its disengaged state. When the second clutch 6210 isin its engaged position (FIG. 31), the second clutch 6210 is engagedwith the second drive ring 6220 such that the second drive ring 6220 isexpanded, or stretched, radially outwardly into contact with the outerhousing 6230. In at least one instance, the second drive ring 6220comprises an elastomeric band, for example. As can be seen in FIG. 31,the second drive ring 6220 is compressed against an annular innersidewall 7415 of the outer housing 6230. As a result, the rotation ofthe drive shaft 2730 and the second clutch 6210 is transmitted to theouter housing 6230 when the second clutch assembly 6200 is in itsengaged state. Depending on the direction in which the drive shaft 2730is rotated, the second clutch assembly 6200 can rotate the end effector7000 in a first direction or a second direction about the longitudinalaxis L when the second clutch assembly 6200 is in its engaged state.

As described above, the second electromagnetic actuator 6240 isconfigured to generate magnetic fields to move the second clutch 6210between its disengaged (FIG. 30) and engaged (FIG. 31) positions. Forinstance, the second electromagnetic actuator 6240 is configured to emita magnetic field EF_(L) which repulses, or drives, the second clutch6210 away from the second drive ring 6220 when the second clutchassembly 6200 is in its disengaged state. The second electromagneticactuator 6240 comprises one or more wound coils in a cavity defined inthe shaft frame 2530 which generate the magnetic field EF_(L) whencurrent flows in a first direction through a second electrical clutchcircuit including the wound coils. The control system 1800 is configuredto apply a first voltage polarity to the second electrical clutchcircuit to create the current flowing in the first direction. Thecontrol system 1800 can continuously apply the first voltage polarity tothe second electric clutch circuit to continuously hold the secondclutch 6120 in its disengaged position. While such an arrangement canprevent the second clutch 6210 from unintentionally engaging the seconddrive ring 6220, such an arrangement can also consume a lot of power.Alternatively, the control system 1800 can apply the first voltagepolarity to the second electrical clutch circuit for a sufficient periodof time to position the second clutch 6210 in its disengaged positionand then discontinue applying the first voltage polarity to the secondelectric clutch circuit, thereby resulting in a lower consumption ofpower. That being said, the second clutch assembly 6200 furthercomprises a second clutch lock 6250 mounted in the outer housing 6230which is configured to releasably hold the second clutch 6210 in itsdisengaged position. Similar to the above, the second clutch lock 6250can prevent, or at least reduce the possibility of, the second clutch6210 from becoming unintentionally engaged with the second drive ring6220. When the second clutch 6210 is in its disengaged position, asillustrated in FIG. 30, the second clutch lock 6250 interferes with thefree movement of the second clutch 6210 and holds the second clutch 6210in position via a friction and/or interference force therebetween. In atleast one instance, the second clutch lock 6250 comprises an elastomericplug, seat, or detent, comprised of rubber, for example. In certaininstances, the second clutch lock 6250 comprises a permanent magnetwhich holds the second clutch 6210 in its disengaged position by anelectromagnetic force. That said, the second electromagnetic actuator6240 can apply an electromagnetic pulling force to the second clutch6210 that overcomes these forces, as described in greater detail below.

Further to the above, referring to FIG. 31, the second electromagneticactuator 6240 is configured to emit a magnetic field EF_(D) which pulls,or drives, the second clutch 6210 toward the second drive ring 6220 whenthe second clutch assembly 6200 is in its engaged state. The coils ofthe second electromagnetic actuator 6240 generate the magnetic fieldEF_(D) when current flows in a second, or opposite, direction throughthe second electrical shaft circuit. The control system 1800 isconfigured to apply an opposite voltage polarity to the secondelectrical shaft circuit to create the current flowing in the oppositedirection. The control system 1800 can continuously apply the oppositevoltage polarity to the second electric shaft circuit to continuouslyhold the second clutch 6210 in its engaged position and maintain theoperable engagement between the second drive ring 6220 and the outerhousing 6230. Alternatively, the second clutch 6210 can be configured tobecome wedged within the second drive ring 6220 when the second clutch6210 is in its engaged position and, in such instances, the controlsystem 1800 may not need to continuously apply a voltage polarity to thesecond shaft electrical circuit to hold the second clutch assembly 6200in its engaged state. In such instances, the control system 1800 candiscontinue applying the voltage polarity once the second clutch 6210has been sufficiently wedged in the second drive ring 6220.

Notably, further to the above, the second clutch lock 6250 is alsoconfigured to lockout the rotation of the end effector 7000 when thesecond clutch 6210 is in its disengaged position. More specifically,referring again to FIG. 30, the second clutch 6210 pushes the secondclutch lock 6250 in the outer shaft 6230 into engagement with thearticulation link 2340 when the second clutch 6210 is in its disengagedposition such that the end effector 7000 does not rotate, or at leastsubstantially rotate, relative to the distal attachment portion 2400 ofthe shaft assembly 2000. As illustrated in FIG. 27, the second clutchlock 6250 is positioned or wedged within a slot, or channel, 2345defined in the articulation link 2340 when the second clutch 6210 is inits disengaged position. As a result of the above, the possibility ofthe end effector 7000 unintentionally rotating is prevented, or at leastreduced. Moreover, as a result of the above, the second clutch 6210 cando at least two things—operate the end effector rotation drive when thesecond clutch 6210 is in its engaged position and lock out the endeffector rotation drive when the second clutch 6210 is in its disengagedposition.

Referring primarily to FIGS. 22, 24, and 25, the shaft assembly 2000further comprises an articulation drive system configured to articulatethe distal attachment portion 2400 and the end effector 7000 about thearticulation joint 2300. The articulation drive system comprises anarticulation drive 6330 rotatably supported within the distal attachmentportion 2400. That said, the articulation drive 6330 is closely receivedwithin the distal attachment portion 2400 such that the articulationdrive 6330 does not translate, or at least substantially translate,relative to the distal attachment portion 2400. The articulation drivesystem of the shaft assembly 2000 further comprises a stationary gear2330 fixedly mounted to the articulation frame 2310. More specifically,the stationary gear 2330 is fixedly mounted to a pin connecting a tab2314 of the articulation frame 2310 and the articulation link 2340 suchthat the stationary gear 2330 does not rotate relative to thearticulation frame 2310. The stationary gear 2330 comprises a centralbody 2335 and an annular array of stationary teeth 2332 extending aroundthe perimeter of the central body 2335. The articulation drive 6330comprises an annular array of drive teeth 6332 which is meshinglyengaged with the stationary teeth 2332. When the articulation drive 6330is rotated, the articulation drive 6330 pushes against the stationarygear 2330 and articulates the distal attachment portion 2400 of theshaft assembly 2000 and the end effector 7000 about the articulationjoint 2300.

Referring primarily to FIG. 32, the third clutch system 6300 comprises athird clutch 6310, an expandable third drive ring 6320, and a thirdelectromagnetic actuator 6340. The third clutch 6310 comprises anannular ring and is slideably disposed on the drive shaft 2730. Thethird clutch 6310 is comprised of a magnetic material and is movablebetween a disengaged, or unactuated, position (FIG. 32) and an engaged,or actuated, position (FIG. 33) by electromagnetic fields EF generatedby the third electromagnetic actuator 6340. In various instances, thethird clutch 6310 is at least partially comprised of iron and/or nickel,for example. In at least one instance, the third clutch 6310 comprises apermanent magnet. As illustrated in FIG. 22A, the drive shaft 2730comprises one or more longitudinal key slots 6315 defined therein whichare configured to constrain the longitudinal movement of the thirdclutch 6310 relative to the drive shaft 2730. More specifically, thethird clutch 6310 comprises one or more keys extending into the keyslots 6315 such that the distal ends of the key slots 6315 stop thedistal movement of the third clutch 6310 and the proximal ends of thekey slots 6315 stop the proximal movement of the third clutch 6310.

When the third clutch 6310 is in its disengaged position, referring toFIG. 32, the third clutch 6310 rotates with the drive shaft 2730 butdoes not transmit rotational motion to the third drive ring 6320. As canbe seen in FIG. 32, the third clutch 6310 is separated from, or not incontact with, the third drive ring 6320. As a result, the rotation ofthe drive shaft 2730 and the third clutch 6310 is not transmitted to thearticulation drive 6330 when the third clutch assembly 6300 is in itsdisengaged state. When the third clutch 6310 is in its engaged position,referring to FIG. 33, the third clutch 6310 is engaged with the thirddrive ring 6320 such that the third drive ring 6320 is expanded, orstretched, radially outwardly into contact with the articulation drive6330. In at least one instance, the third drive ring 6320 comprises anelastomeric band, for example. As can be seen in FIG. 33, the thirddrive ring 6320 is compressed against an annular inner sidewall 6335 ofthe articulation drive 6330. As a result, the rotation of the driveshaft 2730 and the third clutch 6310 is transmitted to the articulationdrive 6330 when the third clutch assembly 6300 is in its engaged state.Depending on the direction in which the drive shaft 2730 is rotated, thethird clutch assembly 6300 can articulate the distal attachment portion2400 of the shaft assembly 2000 and the end effector 7000 in a first orsecond direction about the articulation joint 2300.

As described above, the third electromagnetic actuator 6340 isconfigured to generate magnetic fields to move the third clutch 6310between its disengaged (FIG. 32) and engaged (FIG. 33) positions. Forinstance, referring to FIG. 32, the third electromagnetic actuator 6340is configured to emit a magnetic field EF_(L) which repulses, or drives,the third clutch 6310 away from the third drive ring 6320 when the thirdclutch assembly 6300 is in its disengaged state. The thirdelectromagnetic actuator 6340 comprises one or more wound coils in acavity defined in the shaft frame 2530 which generate the magnetic fieldEF_(L) when current flows in a first direction through a thirdelectrical clutch circuit including the wound coils. The control system1800 is configured to apply a first voltage polarity to the thirdelectrical clutch circuit to create the current flowing in the firstdirection. The control system 1800 can continuously apply the firstvoltage polarity to the third electric clutch circuit to continuouslyhold the third clutch 6310 in its disengaged position. While such anarrangement can prevent the third clutch 6310 from unintentionallyengaging the third drive ring 6320, such an arrangement can also consumea lot of power. Alternatively, the control system 1800 can apply thefirst voltage polarity to the third electrical clutch circuit for asufficient period of time to position the third clutch 6310 in itsdisengaged position and then discontinue applying the first voltagepolarity to the third electric clutch circuit, thereby resulting in alower consumption of power.

Further to the above, the third electromagnetic actuator 6340 isconfigured to emit a magnetic field EF_(D) which pulls, or drives, thethird clutch 6310 toward the third drive ring 6320 when the third clutchassembly 6300 is in its engaged state. The coils of the thirdelectromagnetic actuator 6340 generate the magnetic field EF_(D) whencurrent flows in a second, or opposite, direction through the thirdelectrical clutch circuit. The control system 1800 is configured toapply an opposite voltage polarity to the third electrical shaft circuitto create the current flowing in the opposite direction. The controlsystem 1800 can continuously apply the opposite voltage polarity to thethird electric shaft circuit to continuously hold the third clutch 6310in its engaged position and maintain the operable engagement between thethird drive ring 6320 and the articulation drive 6330. Alternatively,the third clutch 6210 can be configured to become wedged within thethird drive ring 6320 when the third clutch 6310 is in its engagedposition and, in such instances, the control system 1800 may not need tocontinuously apply a voltage polarity to the third shaft electricalcircuit to hold the third clutch assembly 6300 in its engaged state. Insuch instances, the control system 1800 can discontinue applying thevoltage polarity once the third clutch 6310 has been sufficiently wedgedin the third drive ring 6320. In any event, the end effector 7000 isarticulatable in a first direction or a second direction, depending onthe direction in which the drive shaft 2730 is rotated, when the thirdclutch assembly 6300 is in its engaged state.

Further to the above, referring to FIGS. 22, 32, and 33, thearticulation drive system further comprises a lockout 6350 whichprevents, or at least inhibits, the articulation of the distalattachment portion 2400 of the shaft assembly 2000 and the end effector7000 about the articulation joint 2300 when the third clutch 6310 is inits disengaged position (FIG. 32). Referring primarily to FIG. 22, thearticulation link 2340 comprises a slot, or groove, 2350 defined thereinwherein the lockout 6350 is slideably positioned in the slot 2350 andextends at least partially under the stationary articulation gear 2330.The lockout 6350 comprises at attachment hook 6352 engaged with thethird clutch 6310. More specifically, the third clutch 6310 comprises anannular slot, or groove, 6312 defined therein and the attachment hook6352 is positioned in the annular slot 6312 such that the lockout 6350translates with the third clutch 6310. Notably, however, the lockout6350 does not rotate, or at least substantially rotate, with the thirdclutch 6310. Instead, the annular groove 6312 in the third clutch 6310permits the third clutch 6310 to rotate relative to the lockout 6350.The lockout 6350 further comprises a lockout hook 6354 slideablypositioned in a radially-extending lockout slot 2334 defined in thebottom of the stationary gear 2330. When the third clutch 6310 is in itsdisengaged position, as illustrated in FIG. 32, the lockout 6350 is in alocked position in which the lockout hook 6354 prevents the end effector7000 from rotating about the articulation joint 2300. When the thirdclutch 6310 is in its engaged position, as illustrated in FIG. 33, thelockout 6350 is in an unlocked position in which the lockout hook 6354is no longer positioned in the lockout slot 2334. Instead, the lockouthook 6354 is positioned in a clearance slot defined in the middle orbody 2335 of the stationary gear 2330. In such instances, the lockouthook 6354 can rotate within the clearance slot when the end effector7000 rotates about the articulation joint 2300.

Further to the above, the radially-extending lockout slot 2334 depictedin FIGS. 32 and 33 extends longitudinally, i.e., along an axis which isparallel to the longitudinal axis of the elongate shaft 2200. Once theend effector 7000 has been articulated, however, the lockout hook 6354is no longer aligned with the longitudinal lockout slot 2334. With thisin mind, the stationary gear 2330 comprises a plurality, or an array, ofradially-extending lockout slots 2334 defined in the bottom of thestationary gear 2330 such that, when the third clutch 6310 is deactuatedand the lockout 6350 is pulled distally after the end effector 7000 hasbeen articulated, the lockout hook 6354 can enter one of the lockoutslots 2334 and lock the end effector 7000 in its articulated position.Thus, as a result, the end effector 7000 can be locked in anunarticulated and an articulated position. In various instances, thelockout slots 2334 can define discrete articulated positions for the endeffector 7000. For instance, the lockout slots 2334 can be defined at 10degree intervals, for example, which can define discrete articulationorientations for the end effector 7000 at 10 degree intervals. In otherinstances, these orientations can be at 5 degree intervals, for example.In alternative embodiments, the lockout 6350 comprises a brake thatengages a circumferential shoulder defined in the stationary gear 2330when the third clutch 6310 is disengaged from the third drive ring 6320.In such an embodiment, the end effector 7000 can be locked in anysuitable orientation. In any event, the lockout 6350 prevents, or atleast reduces the possibility of, the end effector 7000 unintentionallyarticulating. As a result of the above, the third clutch 6310 can dothings—operate the articulation drive when it is in its engaged positionand lock out the articulation drive when it is in its disengagedposition.

Referring primarily to FIGS. 24 and 25, the shaft frame 2530 and thedrive shaft 2730 extend through the articulation joint 2300 into thedistal attachment portion 2400. When the end effector 7000 isarticulated, as illustrated in FIGS. 16 and 17, the shaft frame 2530 andthe drive shaft 2730 bend to accommodate the articulation of the endeffector 7000. Thus, the shaft frame 2530 and the drive shaft 2730 arecomprised of any suitable material which accommodates the articulationof the end effector 7000. Moreover, as discussed above, the shaft frame2530 houses the first, second, and third electromagnetic actuators 6140,6240, and 6340. In various instances, the first, second, and thirdelectromagnetic actuators 6140, 6240, and 6340 each comprise wound wirecoils, such as copper wire coils, for example, and the shaft frame 2530is comprised of an insulative material to prevent, or at least reducethe possibility of, short circuits between the first, second, and thirdelectromagnetic actuators 6140, 6240, and 6340. In various instances,the first, second, and third electrical clutch circuits extendingthrough the shaft frame 2530 are comprised of insulated electricalwires, for example. Further to the above, the first, second, and thirdelectrical clutch circuits place the electromagnetic actuators 6140,6240, and 6340 in communication with the control system 1800 in thedrive module 1100.

As described above, the clutches 6110, 6210, and/or 6310 can be held intheir disengaged positions so that they do not unintentionally move intotheir engaged positions. In various arrangements, the clutch system 6000comprises a first biasing member, such as a spring, for example,configured to bias the first clutch 6110 into its disengaged position, asecond biasing member, such as a spring, for example, configured to biasthe second clutch 6210 into its disengaged position, and/or a thirdbiasing member, such as a spring, for example, configured to bias thethird clutch 6110 into its disengaged position. In such arrangements,the biasing forces of the springs can be selectively overcome by theelectromagnetic forces generated by the electromagnetic actuators whenenergized by an electrical current. Further to the above, the clutches6110, 6210, and/or 6310 can be retained in their engaged positions bythe drive rings 6120, 6220, and/or 6320, respectively. Morespecifically, in at least one instance, the drive rings 6120, 6220,and/or 6320 are comprised of an elastic material which grips orfrictionally holds the clutches 6110, 6210, and/or 6310, respectively,in their engaged positions. In various alternative embodiments, theclutch system 6000 comprises a first biasing member, such as a spring,for example, configured to bias the first clutch 6110 into its engagedposition, a second biasing member, such as a spring, for example,configured to bias the second clutch 6210 into its engaged position,and/or a third biasing member, such as a spring, for example, configuredto bias the third clutch 6110 into its engaged position. In sucharrangements, the biasing forces of the springs can be overcome by theelectromagnetic forces applied by the electromagnetic actuators 6140,6240, and/or 6340, respectively, as needed to selectively hold theclutches 6110, 6210, and 6310 in their disengaged positions. In any oneoperational mode of the surgical system, the control assembly 1800 canenergize one of the electromagnetic actuators to engage one of theclutches while energizing the other two electromagnetic actuators todisengage the other two clutches.

Although the clutch system 6000 comprises three clutches to controlthree drive systems of the surgical system, a clutch system can compriseany suitable number of clutches to control any suitable number ofsystems. Moreover, although the clutches of the clutch system 6000 slideproximally and distally between their engaged and disengaged positions,the clutches of a clutch system can move in any suitable manner. Inaddition, although the clutches of the clutch system 6000 are engagedone at a time to control one drive motion at a time, various instancesare envisioned in which more than one clutch can be engaged to controlmore than one drive motion at a time.

In view of the above, the reader should appreciate that the controlsystem 1800 is configured to, one, operate the motor system 1600 torotate the drive shaft system 2700 in an appropriate direction and, two,operate the clutch system 6000 to transfer the rotation of the driveshaft system 2700 to the appropriate function of the end effector 7000.Moreover, as discussed above, the control system 1800 is responsive toinputs from the clamping trigger system 2600 of the shaft assembly 2000and the input system 1400 of the handle 1000. When the clamping triggersystem 2600 is actuated, as discussed above, the control system 1800activates the first clutch assembly 6100 and deactivates the secondclutch assembly 6200 and the third clutch assembly 6300. In suchinstances, the control system 1800 also supplies power to the motorsystem 1600 to rotate the drive shaft system 2700 in a first directionto clamp the jaw assembly 7100 of the end effector 7000. When thecontrol system 1800 detects that the jaw assembly 7100 is in its clampedconfiguration, the control system 1800 stops the motor assembly 1600 anddeactivates the first clutch assembly 6100. When the control system 1800detects that the clamping trigger system 2600 has been moved to, or isbeing moved to, its unactuated position, the control system 1800activates, or maintains the activation of, the first clutch assembly6100 and deactivates, or maintains the deactivation of, the secondclutch assembly 6200 and the third clutch assembly 6300. In suchinstances, the control system 1800 also supplies power to the motorsystem 1600 to rotate the drive shaft system 2700 in a second directionto open the jaw assembly 7100 of the end effector 7000.

When the rotation actuator 1420 is actuated in a first direction,further to the above, the control system 1800 activates the secondclutch assembly 6200 and deactivates the first clutch assembly 6100 andthe third clutch assembly 6300. In such instances, the control system1800 also supplies power to the motor system 1600 to rotate the driveshaft system 2700 in a first direction to rotate the end effector 7000in a first direction. When the control system 1800 detects that therotation actuator 1420 has been actuated in a second direction, thecontrol system 1800 activates, or maintains the activation of, thesecond clutch assembly 6200 and deactivates, or maintains thedeactivation of, the first clutch assembly 6100 and the third clutchassembly 6300. In such instances, the control system 1800 also suppliespower to the motor system 1600 to rotate the drive shaft system 2700 ina second direction to rotate the drive shaft system 2700 in a seconddirection to rotate the end effector 7000 in a second direction. Whenthe control system 1800 detects that the rotation actuator 1420 is notactuated, the control system 1800 deactivates the second clutch assembly6200.

When the first articulation actuator 1432 is depressed, further to theabove, the control system 1800 activates the third clutch assembly 6300and deactivates the first clutch assembly 6100 and the second clutchassembly 6200. In such instances, the control system 1800 also suppliespower to the motor system 1600 to rotate the drive shaft system 2700 ina first direction to articulate the end effector 7000 in a firstdirection. When the control system 1800 detects that the secondarticulation actuator 1434 is depressed, the control system 1800activates, or maintains the activation of, the third clutch assembly6200 and deactivates, or maintains the deactivation of, the first clutchassembly 6100 and the second clutch assembly 6200. In such instances,the control system 1800 also supplies power to the motor system 1600 torotate the drive shaft system 2700 in a second direction to articulatethe end effector 7000 in a second direction. When the control system1800 detects that neither the first articulation actuator 1432 nor thesecond articulation actuator 1434 are actuated, the control system 1800deactivates the third clutch assembly 6200.

Further to the above, the control system 1800 is configured to changethe operating mode of the stapling system based on the inputs itreceives from the clamping trigger system 2600 of the shaft assembly2000 and the input system 1400 of the handle 1000. The control system1800 is configured to shift the clutch system 6000 before rotating theshaft drive system 2700 to perform the corresponding end effectorfunction. Moreover, the control system 1800 is configured to stop therotation of the shaft drive system 2700 before shifting the clutchsystem 6000. Such an arrangement can prevent the sudden movements in theend effector 7000. Alternatively, the control system 1800 can shift theclutch system 600 while the shaft drive system 2700 is rotating. Such anarrangement can allow the control system 1800 to shift quickly betweenoperating modes.

As discussed above, referring to FIG. 34, the distal attachment portion2400 of the shaft assembly 2000 comprises an end effector lock 6400configured to prevent the end effector 7000 from being unintentionallydecoupled from the shaft assembly 2000. The end effector lock 6400comprises a lock end 6410 selectively engageable with the annular arrayof lock notches 7410 defined on the proximal attachment portion 7400 ofthe end effector 7000, a proximal end 6420, and a pivot 6430 rotatablyconnecting the end effector lock 6400 to the articulation link 2320.When the third clutch 6310 of the third clutch assembly 6300 is in itsdisengaged position, as illustrated in FIG. 34, the third clutch 6310 iscontact with the proximal end 6420 of the end effector lock 6400 suchthat the lock end 6410 of the end effector lock 6400 is engaged with thearray of lock notches 7410. In such instances, the end effector 7000 canrotate relative to the end effector lock 6400 but cannot translaterelative to the distal attachment portion 2400. When the third clutch6310 is moved into its engaged position, as illustrated in FIG. 35, thethird clutch 6310 is no longer engaged with the proximal end 6420 of theend effector lock 6400. In such instances, the end effector lock 6400 isfree to pivot upwardly and permit the end effector 7000 to be detachedfrom the shaft assembly 2000.

The above being said, referring again to FIG. 34, it is possible thatthe second clutch 6210 of the second clutch assembly 6200 is in itsdisengaged position when the clinician detaches, or attempts to detach,the end effector 7000 from the shaft assembly 2000. As discussed above,the second clutch 6210 is engaged with the second clutch lock 6250 whenthe second clutch 6210 is in its disengaged position and, in suchinstances, the second clutch lock 6250 is pushed into engagement withthe articulation link 2340. More specifically, the second clutch lock6250 is positioned in the channel 2345 defined in the articulation 2340when the second clutch 6210 is engaged with the second clutch lock 6250which may prevent, or at least impede, the end effector 7000 from beingdetached from the shaft assembly 2000. To facilitate the release of theend effector 7000 from the shaft assembly 2000, the control system 1800can move the second clutch 6210 into its engaged position in addition tomoving the third clutch 6310 into its engaged position. In suchinstances, the end effector 7000 can clear both the end effector lock6400 and the second clutch lock 6250 when the end effector 7000 isremoved.

In at least one instance, further to the above, the drive module 1100comprises an input switch and/or sensor in communication with thecontrol system 1800 via the input system 1400, and/or the control system1800 directly, which, when actuated, causes the control system 1800 tounlock the end effector 7000. In various instances, the drive module1100 comprises an input screen 1440 in communication with the board 1410of the input system 1400 which is configured to receive an unlock inputfrom the clinician. In response to the unlock input, the control system1800 can stop the motor system 1600, if it is running, and unlock theend effector 7000 as described above. The input screen 1440 is alsoconfigured to receive a lock input from the clinician in which the inputsystem 1800 moves the second clutch assembly 6200 and/or the thirdclutch assembly 6300 into their unactuated states to lock the endeffector 7000 to the shaft assembly 2000.

FIG. 37 depicts a shaft assembly 2000′ in accordance with at least onealternative embodiment. The shaft assembly 2000′ is similar to the shaftassembly 2000 in many respects, most of which will not be repeatedherein for the sake of brevity. Similar to the shaft assembly 2000, theshaft assembly 2000′ comprises a shaft frame, i.e., shaft frame 2530′.The shaft frame 2530′ comprises a longitudinal passage 2535′ and, inaddition, a plurality of clutch position sensors, i.e., a first sensor6180′, a second sensor 6280′, and a third sensor 6380′ positioned in theshaft frame 2530′. The first sensor 6180′ is in signal communicationwith the control system 1800 as part of a first sensing circuit. Thefirst sensing circuit comprises signal wires extending through thelongitudinal passage 2535′; however, the first sensing circuit cancomprise a wireless signal transmitter and receiver to place the firstsensor 6180′ in signal communication with the control system 1800. Thefirst sensor 6180′ is positioned and arranged to detect the position ofthe first clutch 6110 of the first clutch assembly 6100. Based on datareceived from the first sensor 6180′, the control system 1800 candetermine whether the first clutch 6110 is in its engaged position, itsdisengaged position, or somewhere in-between. With this information, thecontrol system 1800 can assess whether or not the first clutch 6110 isin the correct position given the operating state of the surgicalinstrument. For instance, if the surgical instrument is in its jawclamping/opening operating state, the control system 1800 can verifywhether the first clutch 6110 is properly positioned in its engagedposition. In such instances, further to the below, the control system1800 can also verify that the second clutch 6210 is in its disengagedposition via the second sensor 6280′ and that the third clutch 6310 isin its disengaged position via the third sensor 6380′. Correspondingly,the control system 1800 can verify whether the first clutch 6110 isproperly positioned in its disengaged position if the surgicalinstrument is not in its jaw clamping/opening state. To the extent thatthe first clutch 6110 is not in its proper position, the control system1800 can actuate the first electromagnetic actuator 6140 in an attemptto properly position the first clutch 6110. Likewise, the control system1800 can actuate the electromagnetic actuators 6240 and/or 6340 toproperly position the clutches 6210 and/or 6310, if necessary.

The second sensor 6280′ is in signal communication with the controlsystem 1800 as part of a second sensing circuit. The second sensingcircuit comprises signal wires extending through the longitudinalpassage 2535′; however, the second sensing circuit can comprise awireless signal transmitter and receiver to place the second sensor6280′ in signal communication with the control system 1800. The secondsensor 6280′ is positioned and arranged to detect the position of thesecond clutch 6210 of the first clutch assembly 6200. Based on datareceived from the second sensor 6280′, the control system 1800 candetermine whether the second clutch 6210 is in its engaged position, itsdisengaged position, or somewhere in-between. With this information, thecontrol system 1800 can assess whether or not the second clutch 6210 isin the correct position given the operating state of the surgicalinstrument. For instance, if the surgical instrument is in its endeffector rotation operating state, the control system 1800 can verifywhether the second clutch 6210 is properly positioned in its engagedposition. In such instances, the control system 1800 can also verifythat the first clutch 6110 is in its disengaged position via the firstsensor 6180′ and, further to the below, the control system 1800 can alsoverify that the third clutch 6310 is in its disengaged position via thethird sensor 6380′. Correspondingly, the control system 1800 can verifywhether the second clutch 6110 is properly positioned in its disengagedposition if the surgical instrument is not in its end effector rotationstate. To the extent that the second clutch 6210 is not in its properposition, the control system 1800 can actuate the second electromagneticactuator 6240 in an attempt to properly position the second clutch 6210.Likewise, the control system 1800 can actuate the electromagneticactuators 6140 and/or 6340 to properly position the clutches 6110 and/or6310, if necessary.

The third sensor 6380′ is in signal communication with the controlsystem 1800 as part of a third sensing circuit. The third sensingcircuit comprises signal wires extending through the longitudinalpassage 2535′; however, the third sensing circuit can comprise awireless signal transmitter and receiver to place the third sensor 6380′in signal communication with the control system 1800. The third sensor6380′ is positioned and arranged to detect the position of the thirdclutch 6310 of the third clutch assembly 6300. Based on data receivedfrom the third sensor 6380′, the control system 1800 can determinewhether the third clutch 6310 is in its engaged position, its disengagedposition, or somewhere in-between. With this information, the controlsystem 1800 can assess whether or not the third clutch 6310 is in thecorrect position given the operating state of the surgical instrument.For instance, if the surgical instrument is in its end effectorarticulation operating state, the control system 1800 can verify whetherthe third clutch 6310 is properly positioned in its engaged position. Insuch instances, the control system 1800 can also verify that the firstclutch 6110 is in its disengaged position via the first sensor 6180′ andthat the second clutch 6210 is in its disengaged position via the secondsensor 6280′. Correspondingly, the control system 1800 can verifywhether the third clutch 6310 is properly positioned in its disengagedposition if the surgical instrument is not in its end effectorarticulation state. To the extent that the third clutch 6310 is not inits proper position, the control system 1800 can actuate the thirdelectromagnetic actuator 6340 in an attempt to properly position thethird clutch 6310. Likewise, the control system 1800 can actuate theelectromagnetic actuators 6140 and/or 6240 to properly position theclutches 6110 and/or 6210, if necessary.

Further to the above, the clutch position sensors, i.e., the firstsensor 6180′, the second sensor 6280′, and the third sensor 6380′ cancomprise any suitable type of sensor. In various instances, the firstsensor 6180′, the second sensor 6280′, and the third sensor 6380′ eachcomprise a proximity sensor. In such an arrangement, the sensors 6180′,6280′, and 6380′ are configured to detect whether or not the clutches6110, 6210, and 6310, respectively, are in their engaged positions. Invarious instances, the first sensor 6180′, the second sensor 6280′, andthe third sensor 6380′ each comprise a Hall Effect sensor, for example.In such an arrangement, the sensors 6180′, 6280′, and 6380′ can not onlydetect whether or not the clutches 6110, 6210, and 6310, respectively,are in their engaged positions but the sensors 6180′, 6280′, and 6380′can also detect how close the clutches 6110, 6210, and 6310 are withrespect to their engaged or disengaged positions.

FIG. 38 depicts the shaft assembly 2000′ and an end effector 7000″ inaccordance with at least one alternative embodiment. The end effector7000″ is similar to the end effector 7000 in many respects, most ofwhich will not be repeated herein for the sake of brevity. Similar tothe end effector 7000, the shaft assembly 7000″ comprises a jaw assembly7100 and a jaw assembly drive configured to move the jaw assembly 7100between its open and closed configurations. The jaw assembly drivecomprises drive links 7140, a drive nut 7150″, and a drive screw 6130″.The drive nut 7150″ comprises a sensor 7190″ positioned therein which isconfigured to detect the position of a magnetic element 6190″ positionedin the drive screw 6130″. The magnetic element 6190″ is positioned in anelongate aperture 6134″ defined in the drive screw 6130″ and cancomprise a permanent magnet and/or can be comprised of iron, nickel,and/or any suitable metal, for example. In various instances, the sensor7190″ comprises a proximity sensor, for example, which is in signalcommunication with the control system 1800. In certain instances, thesensor 7190″ comprises a Hall Effect sensor, for example, in signalcommunication with the control system 1800. In certain instances, thesensor 7190″ comprises an optical sensor, for example, and thedetectable element 6190″ comprises an optically detectable element, suchas a reflective element, for example. In either event, the sensor 7190″is configured to communicate wirelessly with the control system 1800 viaa wireless signal transmitter and receiver and/or via a wired connectionextending through the shaft frame passage 2532′, for example.

The sensor 7190″, further to the above, is configured to detect when themagnetic element 6190″ is adjacent to the sensor 7190″ such that thecontrol system 1800 can use this data to determine that the jaw assembly7100 has reached the end of its clamping stroke. At such point, thecontrol system 1800 can stop the motor assembly 1600. The sensor 7190″and the control system 1800 are also configured to determine thedistance between where the drive screw 6130″ is currently positioned andwhere the drive screw 6130″ should be positioned at the end of itsclosure stroke in order to calculate the amount of closure stroke of thedrive screw 6130″ that is still needed to close the jaw assembly 7100.Moreover, such information can be used by the control system 1800 toassess the current configuration of the jaw assembly 7100, i.e., whetherthe jaw assembly 7100 is in its open configuration, its closedconfiguration, or a partially closed configuration. The sensor systemcould be used to determine when the jaw assembly 7100 has reached itsfully open position and stop the motor assembly 1600 at that point. Invarious instances, the control system 1800 could use this sensor systemto confirm that the first clutch assembly 6100 is in its actuated stateby confirming that the jaw assembly 7100 is moving while the motorassembly 1600 is turning. Similarly, the control system 1800 could usethis sensor system to confirm that the first clutch assembly 6100 is inits unactuated state by confirming that the jaw assembly 7100 is notmoving while the motor assembly 1600 is turning.

FIG. 39 depicts a shaft assembly 2000′″ and an end effector 7000′″ inaccordance with at least one alternative embodiment. The shaft assembly2000′″ is similar to the shaft assemblies 2000 and 2000′ in manyrespects, most of which will not be repeated herein for the sake ofbrevity. The end effector 7000′″ is similar to the end effectors 7000and 7000″ in many respects, most of which will not be repeated hereinfor the sake of brevity. Similar to the end effector 7000, the endeffector 7000′″ comprises a jaw assembly 7100 and a jaw assembly driveconfigured to move the jaw assembly 7100 between its open and closedconfigurations and, in addition, an end effector rotation drive thatrotates the end effector 7000′″ relative to the distal attachmentportion 2400 of the shaft assembly 2000′. The end effector rotationdrive comprises an outer housing 6230′″ that is rotated relative to ashaft frame 2530′″ of the end effector 7000′″ by the second clutchassembly 6200. The shaft frame 2530′″ comprises a sensor 6290′″positioned therein which is configured to detect the position of amagnetic element 6190′″ positioned in and/or on the outer housing6230′″. The magnetic element 6190′″ can comprise a permanent magnetand/or can be comprised of iron, nickel, and/or any suitable metal, forexample. In various instances, the sensor 6290′″ comprises a proximitysensor, for example, in signal communication with the control system1800. In certain instances, the sensor 6290′″ comprises a Hall Effectsensor, for example, in signal communication with the control system1800. In either event, the sensor 6290′″ is configured to communicatewirelessly with the control system 1800 via a wireless signaltransmitter and receiver and/or via a wired connection extending throughthe shaft frame passage 2532′, for example. In various instances, thecontrol system 1800 can use the sensor 6290′″ to confirm whether themagnetic element 6190′″ is rotating and, thus, confirm that the secondclutch assembly 6200 is in its actuated state. Similarly, the controlsystem 1800 can use the sensor 6290′″ to confirm whether the magneticelement 6190′″ is not rotating and, thus, confirm that the second clutchassembly 6200 is in its unactuated state. The control system 1800 canalso use the sensor 6290′″ to confirm that the second clutch assembly6200 is in its unactuated state by confirming that the second clutch6210 is positioned adjacent the sensor 6290′″.

FIG. 40 depicts a shaft assembly 2000′″ in accordance with at least onealternative embodiment. The shaft assembly 2000′″ is similar to theshaft assemblies 2000, 2000′, and 2000′″ in many respects, most of whichwill not be repeated herein for the sake of brevity. Similar to theshaft assembly 2000, the shaft assembly 2000′″ comprises, among otherthings, an elongate shaft 2200, an articulation joint 2300, and a distalattachment portion 2400 configured to receive an end effector, such asend effector 7000′, for example. Similar to the shaft assembly 2000, theshaft assembly 2000′″ comprises an articulation drive, i.e.,articulation drive 6330′″ configured to rotate the distal attachmentportion 2400 and the end effector 7000′ about the articulation joint2300. Similar to the above, a shaft frame 2530′″ comprises a sensorpositioned therein configured to detect the position, and/or rotation,of a magnetic element 6390′″ positioned in and/or on the articulationdrive 6330′″. The magnetic element 6390′″ can comprise a permanentmagnet and/or can be comprised of iron, nickel, and/or any suitablemetal, for example. In various instances, the sensor comprises aproximity sensor, for example, in signal communication with the controlsystem 1800. In certain instances, the sensor comprises a Hall Effectsensor, for example, in signal communication with the control system1800. In either event, the sensor is configured to communicatewirelessly with the control system 1800 via a wireless signaltransmitter and receiver and/or via a wired connection extending throughthe shaft frame passage 2532′, for example. In various instances, thecontrol system 1800 can use the sensor to confirm whether the magneticelement 6390′″ is rotating and, thus, confirm that the third clutchassembly 6300 is in its actuated state. Similarly, the control system1800 can use the sensor to confirm whether the magnetic element 6390′″is not rotating and, thus, confirm that the third clutch assembly 6300is in its unactuated state. In certain instances, the control system1800 can use the sensor to confirm that the third clutch assembly 6300is in its unactuated state by confirming that the third clutch 6310 ispositioned adjacent the sensor.

Referring to FIG. 40 once again, the shaft assembly 2000′″ comprises anend effector lock 6400′ configured to releasably lock the end effector7000′, for example, to the shaft assembly 2000′″. The end effector lock6400′ is similar to the end effector lock 6400 in many respects, most ofwhich will not be discussed herein for the sake of brevity. Notably,though, a proximal end 6420′ of the lock 6400′ comprises a tooth 6422′configured to engage the annular slot 6312 of the third clutch 6310 andreleasably hold the third clutch 6310 in its disengaged position. Thatsaid, the actuation of the third electromagnetic assembly 6340 candisengage the third clutch 6310 from the end effector lock 6400′.Moreover, in such instances, the proximal movement of the third clutch6310 into its engaged position rotates the end effector lock 6400′ intoa locked position and into engagement with the lock notches 7410 to lockthe end effector 7000′ to the shaft assembly 2000′″. Correspondingly,the distal movement of the third clutch 6310 into its disengagedposition unlocks the end effector 7000′ and allows the end effector7000′ to be disassembled from the shaft assembly 2000′″.

Further to the above, an instrument system including a handle and ashaft assembly attached thereto can be configured to perform adiagnostic check to assess the state of the clutch assemblies 6100,6200, and 6300. In at least one instance, the control system 1800sequentially actuates the electromagnetic actuators 6140, 6240, and/or6340—in any suitable order—to verify the positions of the clutches 6110,6210, and/or 6310, respectively, and/or verify that the clutches areresponsive to the electromagnetic actuators and, thus, not stuck. Thecontrol system 1800 can use sensors, including any of the sensorsdisclosed herein, to verify the movement of the clutches 6110, 6120, and6130 in response to the electromagnetic fields created by theelectromagnetic actuators 6140, 6240, and/or 6340. In addition, thediagnostic check can also include verifying the motions of the drivesystems. In at least one instance, the control system 1800 sequentiallyactuates the electromagnetic actuators 6140, 6240, and/or 6340—in anysuitable order—to verify that the jaw drive opens and/or closes the jawassembly 7100, the rotation drive rotates the end effector 7000, and/orthe articulation drive articulates the end effector 7000, for example.The control system 1800 can use sensors to verify the motions of the jawassembly 7100 and end effector 7000.

The control system 1800 can perform the diagnostic test at any suitabletime, such as when a shaft assembly is attached to the handle and/orwhen the handle is powered on, for example. If the control system 1800determines that the instrument system passed the diagnostic test, thecontrol system 1800 can permit the ordinary operation of the instrumentsystem. In at least one instance, the handle can comprise an indicator,such as a green LED, for example, which indicates that the diagnosticcheck has been passed. If the control system 1800 determines that theinstrument system failed the diagnostic test, the control system 1800can prevent and/or modify the operation of the instrument system. In atleast one instance, the control system 1800 can limit the functionalityof the instrument system to only the functions necessary to remove theinstrument system from the patient, such as straightening the endeffector 7000 and/or opening and closing the jaw assembly 7100, forexample. In at least one respect, the control system 1800 enters into alimp mode. The limp mode of the control system 1800 can reduce a currentrotational speed of the motor 1610 by any percentage selected from arange of about 75% to about 25%, for example. In one example, the limpmode reduces a current rotational speed of the motor 1610 by 50%. In oneexample, the limp mode reduces the current rotational speed of the motor1610 by 75%. The limp mode may cause a current torque of the motor 1610to be reduced by any percentage selected from a range of about 75% toabout 25%, for example. In one example, the limp mode reduces a currenttorque of the motor 1610 by 50%. The handle can comprise an indicator,such as a red LED, for example, which indicates that the instrumentsystem failed the diagnostic check and/or that the instrument system hasentered into a limp mode. The above being said, any suitable feedbackcan be used to warn the clinician that the instrument system is notoperating properly such as, for example, an audible warning and/or atactile or vibratory warning, for example.

FIGS. 41-43 depict a clutch system 6000′ in accordance with at least onealternative embodiment. The clutch system 6000′ is similar to the clutchsystem 6000 in many respects, most of which will not be repeated hereinfor the sake of brevity. Similar to the clutch system 6000, the clutchsystem 6000′ comprises a clutch assembly 6100′ which is actuatable toselectively couple a rotatable drive input 6030′ with a rotatable driveoutput 6130′. The clutch assembly 6100′ comprises clutch plates 6110′and drive rings 6120′. The clutch plates 6110′ are comprised of amagnetic material, such as iron and/or nickel, for example, and cancomprise a permanent magnet. As described in greater detail below, theclutch plates 6110′ are movable between unactuated positions (FIG. 42)and actuated positions (FIG. 43) within the drive output 6130′. Theclutch plates 6110′ are slideably positioned in apertures defined in thedrive output 6130′ such that the clutch plates 6110′ rotate with thedrive output 6130′ regardless of whether the clutch plates 6110′ are intheir unactuated or actuated positions.

When the clutch plates 6110′ are in their unactuated positions, asillustrated in FIG. 42, the rotation of the drive input 6030′ is nottransferred to the drive output 6130′. More specifically, when the driveinput 6030′ is rotated, in such instances, the drive input 6030′ slidespast and rotates relative to the drive rings 6120′ and, as a result, thedrive rings 6120′ do not drive the clutch plates 6110′ and the driveoutput 6130′. When the clutch plates 6110′ are in their actuatedpositions, as illustrated in FIG. 43, the clutch plates 6110′resiliently compress the drive rings 6120′ against the drive input6030′. The drive rings 6120′ are comprised of any suitable compressiblematerial, such as rubber, for example. In any event, in such instances,the rotation of the drive input 6030′ is transferred to the drive output6130′ via the drive rings 6120′ and the clutch plates 6110′. The clutchsystem 6000′ comprises a clutch actuator 6140′ configured to move theclutch plates 6110′ into their actuated positions. The clutch actuator6140′ is comprised of a magnetic material such as iron and/or nickel,for example, and can comprise a permanent magnet. The clutch actuator6140′ is slideably positioned in a longitudinal shaft frame 6050′extending through the drive input 6030′ and can be moved between anunactuated position (FIG. 42) and an actuated position (FIG. 43) by aclutch shaft 6060′. In at least one instance, the clutch shaft 6060′comprises a polymer cable, for example. When the clutch actuator 6140′is in its actuated position, as illustrated in FIG. 43, the clutchactuator 6140′ pulls the clutch plates 6110′ inwardly to compress thedrive rings 6120′, as discussed above. When the clutch actuator 6140′ ismoved into its unactuated position, as illustrated in FIG. 42, the driverings 6120′ resiliently expand and push the clutch plates 6110′ awayfrom the drive input 6030′. In various alternative embodiments, theclutch actuator 6140′ can comprise an electromagnet. In such anarrangement, the clutch actuator 6140′ can be actuated by an electricalcircuit extending through a longitudinal aperture defined in the clutchshaft 6060′, for example. In various instances, the clutch system 6000′further comprises electrical wires 6040′, for example, extending throughthe longitudinal aperture.

FIG. 44 depicts an end effector 7000 a including a jaw assembly 7100 a,a jaw assembly drive, and a clutch system 6000 a in accordance with atleast one alternative embodiment. The jaw assembly 7100 a comprises afirst jaw 7110 a and a second jaw 7120 a which are selectively rotatableabout a pivot 7130 a. The jaw assembly drive comprises a translatableactuator rod 7160 a and drive links 7140 a which are pivotably coupledto the actuator rod 7160 a about a pivot 7150 a. The drive links 7140 aare also pivotably coupled to the jaws 7110 a and 7120 a such that thejaws 7110 a and 7120 a are rotated closed when the actuator rod 7160 ais pulled proximally and rotated open when the actuator rod 7160 a ispushed distally. The clutch system 6000 a is similar to the clutchsystems 6000 and 6000′ in many respects, most of which will not berepeated herein for the sake of brevity. The clutch system 6000 acomprises a first clutch assembly 6100 a and a second clutch assembly6200 a which are configured to selectively transmit the rotation of adrive input 6030 a to rotate the jaw assembly 7100 a about alongitudinal axis and articulate the jaw assembly 7100 a about anarticulation joint 7300 a, respectively, as described in greater detailbelow.

The first clutch assembly 6100 a comprises clutch plates 6110 a anddrive rings 6120 a and work in a manner similar to the clutch plates6110′ and drive rings 6120′ discussed above. When the clutch pates 6110a are actuated by an electromagnetic actuator 6140 a, the rotation ofthe drive input 6030 a is transferred to an outer shaft housing 7200 a.More specifically, the outer shaft housing 7200 a comprises a proximalouter housing 7210 a and a distal outer housing 7220 a which isrotatably supported by the proximal outer housing 7210 a and is rotatedrelative to the proximal outer housing 7210 a by the drive input 6030 awhen the clutch plates 6110 a are in their actuated position. Therotation of the distal outer housing 7220 a rotates the jaw assembly7100 a about the longitudinal axis owing to fact that the pivot 7130 aof the jaw assembly 7100 a is mounted to the distal outer housing 7220a. As a result, the outer shaft housing 7200 a rotates the jaw assembly7100 a in a first direction when the outer shaft housing 7200 a isrotated in a first direction by the drive input 6030 a. Similarly, theouter shaft housing 7200 a rotates the jaw assembly 7100 a in a seconddirection when the outer shaft housing 7200 a is rotated in a seconddirection by the drive input 6030 a. When the electromagnetic actuator6140 a is de-energized, the drive rings 6120 a expand and the clutchplates 6110 a are moved into their unactuated positions, therebydecoupling the end effector rotation drive from the drive input 6030 a.

The second clutch assembly 6200 a comprises clutch plates 6210 a anddrive rings 6220 a and work in a manner similar to the clutch plates6110′ and drive rings 6120′ discussed above. When the clutch pates 6210a are actuated by an electromagnetic actuator 6240 a, the rotation ofthe drive input 6030 a is transferred to an articulation drive 6230 a.The articulation drive 6230 a is rotatably supported within an outershaft housing 7410 a of an end effector attachment portion 7400 a and isrotatably supported by a shaft frame 6050 a extending through the outershaft housing 7410 a. The articulation drive 6230 a comprises a gearface defined thereon which is operably intermeshed with a stationarygear face 7230 a defined on the proximal outer housing 7210 a of theouter shaft housing 7200 a. As a result, the articulation drive 6230 aarticulates the outer shaft housing 7200 a and the jaw assembly 7100 ain a first direction when the articulation drive 6230 a is rotated in afirst direction by the drive input 6030 a. Similarly, the articulationdrive 6230 a articulates the outer shaft housing 7200 a and the jawassembly 7100 a in a second direction when the articulation drive 6230 ais rotated in a second direction by the drive input 6030 a. When theelectromagnetic actuator 6240 a is de-energized, the drive rings 6220 aexpand and the clutch plates 6210 a are moved into their unactuatedpositions, thereby decoupling the end effector articulation drive fromthe drive input 6030 a.

Further to the above, the shaft assembly 4000 is illustrated in FIGS.45-49. The shaft assembly 4000 is similar to the shaft assemblies 2000,2000′, 2000′″, and 2000′″ in many respects, most of which will not berepeated herein for the sake of brevity. The shaft assembly 4000comprises a proximal portion 4100, an elongate shaft 4200, a distalattachment portion 2400, and an articulate joint 2300 which rotatablyconnects the distal attachment portion 2040 to the elongate shaft 4200.The proximal portion 4100, similar to the proximal portion 2100, isoperably attachable to the drive module 1100 of the handle 1000. Theproximal portion 4100 comprises a housing 4110 including an attachmentinterface 4130 configured to mount the shaft assembly 4000 to theattachment interface 1130 of the handle 1000. The shaft assembly 4000further comprises a frame 4500 including a shaft 4510 configured to becoupled to the shaft 1510 of the handle frame 1500 when the shaftassembly 4000 is attached to the handle 1000. The shaft assembly 4000also comprises a drive system 4700 including a rotatable drive shaft4710 configured to be operably coupled to the drive shaft 1710 of thehandle drive system 1700 when the shaft assembly 4000 is attached to thehandle 1000. The distal attachment portion 2400 is configured to receivean end effector, such as end effector 8000, for example. The endeffector 8000 is similar to the end effector 7000 in many respects, mostof which will not be repeated herein for the sake of brevity. That said,the end effector 8000 comprises a jaw assembly 8100 configured to, amongother things, grasp tissue.

As discussed above, referring primarily to FIGS. 47-49, the frame 4500of the shaft assembly 4000 comprises a frame shaft 4510. The frame shaft4510 comprises a notch, or cut-out, 4530 defined therein. As discussedin greater detail below, the cut-out 4530 is configured to provideclearance for a jaw closure actuation system 4600. The frame 4500further comprises a distal portion 4550 and a bridge 4540 connecting thedistal portion 4550 to the frame shaft 4510. The frame 4500 furthercomprises a longitudinal portion 4560 extending through the elongateshaft 4200 to the distal attachment portion 2400. Similar to the above,the frame shaft 4510 comprises one or more electrical traces definedthereon and/or therein. The electrical traces extend through thelongitudinal portion 4560, the distal portion 4550, the bridge 4540,and/or any suitable portion of the frame shaft 4510 to the electricalcontacts 2520. Referring primarily to FIG. 48, the distal portion 4550and longitudinal portion 4560 comprise a longitudinal aperture definedtherein which is configured to receive a rod 4660 of the jaw closureactuation system 4600, as described in greater detail below.

As also discussed above, referring primarily to FIGS. 48 and 49, thedrive system 4700 of the shaft assembly 4000 comprises a drive shaft4710. The drive shaft 4710 is rotatably supported within the proximalshaft housing 4110 by the frame shaft 4510 and is rotatable about alongitudinal axis extending through the frame shaft 4510. The drivesystem 4700 further comprises a transfer shaft 4750 and an output shaft4780. The transfer shaft 4750 is also rotatably supported within theproximal shaft housing 4110 and is rotatable about a longitudinal axisextending parallel to, or at least substantially parallel to, the frameshaft 4510 and the longitudinal axis defined therethrough. The transfershaft 4750 comprises a proximal spur gear 4740 fixedly mounted theretosuch that the proximal spur gear 4740 rotates with the transfer shaft4750. The proximal spur gear 4740 is operably intermeshed with anannular gear face 4730 defined around the outer circumference of thedrive shaft 4710 such that the rotation of the drive shaft 4710 istransferred to the transfer shaft 4750. The transfer shaft 4750 furthercomprises a distal spur gear 4760 fixedly mounted thereto such that thedistal spur gear 4760 rotates with the transfer shaft 4750. The distalspur gear 4760 is operably intermeshed with an annular gear 4770 definedaround the outer circumference of the output shaft 4780 such that therotation of the transfer shaft 4750 is transferred to the output shaft4780. Similar to the above, the output shaft 4780 is rotatably supportedwithin the proximal shaft housing 4110 by the distal portion 4550 of theshaft frame 4500 such that the output shaft 4780 rotates about thelongitudinal shaft axis. Notably, the output shaft 4780 is not directlycoupled to the input shaft 4710; rather, the output shaft 4780 isoperably coupled to the input shaft 4710 by the transfer shaft 4750.Such an arrangement provides room for the manually-actuated jaw closureactuation system 4600 discussed below.

Further to the above, referring primarily to FIGS. 47 and 48, the jawclosure actuation system 4600 comprises an actuation, or scissors,trigger 4610 rotatably coupled to the proximal shaft housing 4110 abouta pivot 4620. The actuation trigger 4610 comprises an elongate portion4612, a proximal end 4614, and a grip ring aperture 4616 defined in theproximal end 4614 which is configured to be gripped by the clinician.The shaft assembly 4000 further comprises a stationary grip 4160extending from the proximal housing 4110. The stationary grip 4160comprises an elongate portion 4162, a proximal end 4164, and a grip ringaperture 4166 defined in the proximal end 4164 which is configured to begripped by the clinician. In use, as described in greater detail below,the actuation trigger 4610 is rotatable between an unactuated positionand an actuated position (FIG. 48), i.e., toward the stationary grip4160, to close the jaw assembly 8100 of the end effector 8000.

Referring primarily to FIG. 48, the jaw closure actuation system 4600further comprises a drive link 4640 rotatably coupled to the proximalshaft housing 4110 about a pivot 4650 and, in addition, an actuation rod4660 operably coupled to the drive link 4640. The actuation rod 4660extends through an aperture defined in the longitudinal frame portion4560 and is translatable along the longitudinal axis of the shaft frame4500. The actuation rod 4660 comprises a distal end operably coupled tothe jaw assembly 8100 and a proximal end 4665 positioned in a drive slot4645 defined in the drive link 4640 such that the actuation rod 4660 istranslated longitudinally when the drive link 4640 is rotated about thepivot 4650. Notably, the proximal end 4665 is rotatably supported withinthe drive slot 4645 such that the actuation rod 4660 can rotate with theend effector 8000.

Further to the above, the actuation trigger 4610 further comprises adrive arm 4615 configured to engage and rotate the drive link 4640proximally, and translate the actuation rod 4660 proximally, when theactuation trigger 4610 is actuated, i.e., moved closer to the proximalshaft housing 4110. In such instances, the proximal rotation of thedrive link 4640 resiliently compresses a biasing member, such as a coilspring 4670, for example, positioned intermediate the drive link 4640and the frame shaft 4510. When the actuation trigger 4610 is released,the compressed coil spring 4670 re-expands and pushes the drive link4640 and the actuation rod 4660 distally to open the jaw assembly 8100of the end effector 8000. Moreover, the distal rotation of the drivelink 4640 drives, and automatically rotates, the actuation trigger 4610back into its unactuated position. That being said, the clinician couldmanually return the actuation trigger 4610 back into its unactuatedposition. In such instances, the actuation trigger 4610 could be openedslowly. In either event, the shaft assembly 4000 further comprises alock configured to releasably hold the actuation trigger 4610 in itsactuated position such that the clinician can use their hand to performanother task without the jaw assembly 8100 opening unintentionally.

In various alternative embodiments, further to the above, the actuationrod 4660 can be pushed distally to close the jaw assembly 8100. In atleast one such instance, the actuation rod 4660 is mounted directly tothe actuation trigger 4610 such that, when the actuation trigger 4610 isactuated, the actuation trigger 4610 drives the actuation rod 4660distally. Similar to the above, the actuation trigger 4610 can compressa spring when the actuation trigger 4610 is closed such that, when theactuation trigger 4610 is released, the actuation rod 4660 is pushedproximally.

Further to the above, the shaft assembly 4000 has threefunctions—opening/closing the jaw assembly of an end effector, rotatingthe end effector about a longitudinal axis, and articulating the endeffector about an articulation axis. The end effector rotation andarticulation functions of the shaft assembly 4000 are driven by themotor assembly 1600 and the control system 1800 of the drive module 1100while the jaw actuation function is manually-driven by the jaw closureactuation system 4600. The jaw closure actuation system 4600 could be amotor-driven system but, instead, the jaw closure actuation system 4600has been kept a manually-driven system such that the clinician can havea better feel for the tissue being clamped within the end effector.While motorizing the end effector rotation and actuation systemsprovides certain advantages for controlling the position of the endeffector, motorizing the jaw closure actuation system 4600 may cause theclinician to lose a tactile sense of the force being applied to thetissue and may not be able to assess whether the force is insufficientor excessive. Thus, the jaw closure actuation system 4600 ismanually-driven even though the end effector rotation and articulationsystems are motor-driven.

FIG. 50 is a logic diagram of the control system 1800 of the surgicalsystem depicted in FIG. 1 in accordance with at least one embodiment.The control system 1800 comprises a control circuit. The control circuitincludes a microcontroller 1840 comprising a processor 1820 and a memory1830. One or more sensors, such as sensors 1880, 1890, 6180′, 6280′,6380′, 7190″, and/or 6290′″, for example, provide real time feedback tothe processor 1820. The control system 1800 further comprises a motordriver 1850 configured to control the electric motor 1610 and a trackingsystem 1860 configured to determine the position of one or morelongitudinally movable components in the surgical instrument, such asthe clutches 6110, 6120, and 6130 and/or the longitudinally-movabledrive nut 7150 of the jaw assembly drive, for example. The trackingsystem 1860 is also configured to determine the position of one or morerotational components in the surgical instrument, such as the driveshaft 2530, the outer shaft 6230, and/or the articulation drive 6330,for example. The tracking system 1860 provides position information tothe processor 1820, which can be programmed or configured to, amongother things, determine the position of the clutches 6110, 6120, and6130 and the drive nut 7150 as well as the orientation of the jaws 7110and 7120. The motor driver 1850 may be an A3941 available from AllegroMicrosystems, Inc., for example; however, other motor drivers may bereadily substituted for use in the tracking system 1860. A detaileddescription of an absolute positioning system is described in U.S.Patent Application Publication No. 2017/0296213, entitled SYSTEMS ANDMETHODS FOR CONTROLLING A SURGICAL STAPLING AND CUTTING INSTRUMENT, theentire disclosure of which is hereby incorporated herein by reference.

The microcontroller 1840 may be any single core or multicore processorsuch as those known under the trade name ARM Cortex by TexasInstruments, for example. In at least one instance, the microcontroller1840 is a LM4F230H5QR ARM Cortex-M4F Processor Core, available fromTexas Instruments, for example, comprising on-chip memory of 256 KBsingle-cycle flash memory, or other non-volatile memory, up to 40 MHz, aprefetch buffer to improve performance above 40 MHz, a 32 KBsingle-cycle serial random access memory (SRAM), internal read-onlymemory (ROM) loaded with StellarisWare® software, 2 KB electricallyerasable programmable read-only memory (EEPROM), one or more pulse widthmodulation (PWM) modules and/or frequency modulation (FM) modules, oneor more quadrature encoder inputs (QEI) analog, one or more 12-bitAnalog-to-Digital Converters (ADC) with 12 analog input channels, forexample, details of which are available from the product datasheet.

In various instances, the microcontroller 1840 comprises a safetycontroller comprising two controller-based families such as TMS570 andRM4x known under the trade name Hercules ARM Cortex R4, also by TexasInstruments. The safety controller may be configured specifically forIEC 61508 and ISO 26262 safety critical applications, among others, toprovide advanced integrated safety features while delivering scalableperformance, connectivity, and memory options.

The microcontroller 1840 is programmed to perform various functions suchas precisely controlling the speed and/or position of the drive nut 7150of the jaw closure assembly, for example. The microcontroller 1840 isalso programmed to precisely control the rotational speed and positionof the end effector 7000 and the articulation speed and position of theend effector 7000. In various instances, the microcontroller 1840computes a response in the software of the microcontroller 1840. Thecomputed response is compared to a measured response of the actualsystem to obtain an “observed” response, which is used for actualfeedback decisions. The observed response is a favorable, tuned, valuethat balances the smooth, continuous nature of the simulated responsewith the measured response, which can detect outside influences on thesystem.

The motor 1610 is controlled by the motor driver 1850. In various forms,the motor 1610 is a DC brushed driving motor having a maximum rotationalspeed of approximately 25,000 RPM, for example. In other arrangements,the motor 1610 includes a brushless motor, a cordless motor, asynchronous motor, a stepper motor, or any other suitable electricmotor. The motor driver 1850 may comprise an H-bridge driver comprisingfield-effect transistors (FETs), for example. The motor driver 1850 maybe an A3941 available from Allegro Microsystems, Inc., for example. TheA3941 driver 1850 is a full-bridge controller for use with externalN-channel power metal oxide semiconductor field effect transistors(MOSFETs) specifically designed for inductive loads, such as brush DCmotors. In various instances, the driver 1850 comprises a unique chargepump regulator provides full (>10 V) gate drive for battery voltagesdown to 7 V and allows the A3941 to operate with a reduced gate drive,down to 5.5 V. A bootstrap capacitor may be employed to provide theabove-battery supply voltage required for N-channel MOSFETs. An internalcharge pump for the high-side drive allows DC (100% duty cycle)operation. The full bridge can be driven in fast or slow decay modesusing diode or synchronous rectification. In the slow decay mode,current recirculation can be through the high-side or the lowside FETs.The power FETs are protected from shoot-through by resistor adjustabledead time. Integrated diagnostics provide indication of undervoltage,overtemperature, and power bridge faults, and can be configured toprotect the power MOSFETs under most short circuit conditions. Othermotor drivers may be readily substituted.

The tracking system 1860 comprises a controlled motor drive circuitarrangement comprising one or more position sensors, such as sensors1880, 1890, 6180′, 6280′, 6380′, 7190″, and/or 6290′″, for example. Theposition sensors for an absolute positioning system provide a uniqueposition signal corresponding to the location of a displacement member.As used herein, the term displacement member is used generically torefer to any movable member of the surgical system. In variousinstances, the displacement member may be coupled to any position sensorsuitable for measuring linear displacement. Linear displacement sensorsmay include contact or non-contact displacement sensors. Lineardisplacement sensors may comprise linear variable differentialtransformers (LVDT), differential variable reluctance transducers(DVRT), a slide potentiometer, a magnetic sensing system comprising amovable magnet and a series of linearly arranged Hall Effect sensors, amagnetic sensing system comprising a fixed magnet and a series ofmovable linearly arranged Hall Effect sensors, an optical sensing systemcomprising a movable light source and a series of linearly arrangedphoto diodes or photo detectors, or an optical sensing system comprisinga fixed light source and a series of movable linearly arranged photodiodes or photo detectors, or any combination thereof.

The position sensors 1880, 1890, 6180′, 6280′, 6380′, 7190″, and/or6290′″, for example, may comprise any number of magnetic sensingelements, such as, for example, magnetic sensors classified according towhether they measure the total magnetic field or the vector componentsof the magnetic field. The techniques used to produce both types ofmagnetic sensors encompass many aspects of physics and electronics. Thetechnologies used for magnetic field sensing include search coil,fluxgate, optically pumped, nuclear precession, SQUID, Hall-Effect,anisotropic magnetoresistance, giant magnetoresistance, magnetic tunneljunctions, giant magnetoimpedance, magnetostrictive/piezoelectriccomposites, magnetodiode, magnetotransistor, fiber optic, magnetooptic,and microelectromechanical systems-based magnetic sensors, among others.

In various instances, one or more of the position sensors of thetracking system 1860 comprise a magnetic rotary absolute positioningsystem. Such position sensors may be implemented as an AS5055EQFTsingle-chip magnetic rotary position sensor available from AustriaMicrosystems, AG and can be interfaced with the controller 1840 toprovide an absolute positioning system. In certain instances, a positionsensor comprises a low-voltage and low-power component and includes fourHall-Effect elements in an area of the position sensor that is locatedadjacent a magnet. A high resolution ADC and a smart power managementcontroller are also provided on the chip. A CORDIC processor (forCoordinate Rotation Digital Computer), also known as the digit-by-digitmethod and Volder's algorithm, is provided to implement a simple andefficient algorithm to calculate hyperbolic and trigonometric functionsthat require only addition, subtraction, bitshift, and table lookupoperations. The angle position, alarm bits, and magnetic fieldinformation are transmitted over a standard serial communicationinterface such as an SPI interface to the controller 1840. The positionsensors can provide 12 or 14 bits of resolution, for example. Theposition sensors can be an AS5055 chip provided in a small QFN 16-pin4×4×0.85 mm package, for example.

The tracking system 1860 may comprise and/or be programmed to implementa feedback controller, such as a PID, state feedback, and adaptivecontroller. A power source converts the signal from the feedbackcontroller into a physical input to the system, in this case voltage.Other examples include pulse width modulation (PWM) and/or frequencymodulation (FM) of the voltage, current, and force. Other sensor(s) maybe provided to measure physical parameters of the physical system inaddition to position. In various instances, the other sensor(s) caninclude sensor arrangements such as those described in U.S. Pat. No.9,345,481, entitled STAPLE CARTRIDGE TISSUE THICKNESS SENSOR SYSTEM,which is hereby incorporated herein by reference in its entirety; U.S.Patent Application Publication No. 2014/0263552, entitled STAPLECARTRIDGE TISSUE THICKNESS SENSOR SYSTEM, which is hereby incorporatedherein by reference in its entirety; and U.S. patent application Ser.No. 15/628,175, entitled TECHNIQUES FOR ADAPTIVE CONTROL OF MOTORVELOCITY OF A SURGICAL STAPLING AND CUTTING INSTRUMENT, which is herebyincorporated herein by reference in its entirety. In a digital signalprocessing system, absolute positioning system is coupled to a digitaldata acquisition system where the output of the absolute positioningsystem will have finite resolution and sampling frequency. The absolutepositioning system may comprise a compare and combine circuit to combinea computed response with a measured response using algorithms such asweighted average and theoretical control loop that drives the computedresponse towards the measured response. The computed response of thephysical system takes into account properties like mass, inertial,viscous friction, inductance resistance, etc., to predict what thestates and outputs of the physical system will be by knowing the input.

The absolute positioning system provides an absolute position of thedisplacement member upon power up of the instrument without retractingor advancing the displacement member to a reset (zero or home) positionas may be required with conventional rotary encoders that merely countthe number of steps forwards or backwards that the motor 1610 has takento infer the position of a device actuator, drive bar, knife, and thelike.

A sensor 1880 comprising a strain gauge or a micro-strain gauge, forexample, is configured to measure one or more parameters of the endeffector, such as, for example, the strain experienced by the jaws 7110and 7120 during a clamping operation. The measured strain is convertedto a digital signal and provided to the processor 1820. In addition toor in lieu of the sensor 1880, a sensor 1890 comprising a load sensor,for example, can measure the closure force applied by the closure drivesystem to the jaws 7110 and 7120. In various instances, a current sensor1870 can be employed to measure the current drawn by the motor 1610. Theforce required to clamp the jaw assembly 7100 can correspond to thecurrent drawn by the motor 1610, for example. The measured force isconverted to a digital signal and provided to the processor 1820. Amagnetic field sensor can be employed to measure the thickness of thecaptured tissue. The measurement of the magnetic field sensor can alsobe converted to a digital signal and provided to the processor 1820.

The measurements of the tissue compression, the tissue thickness, and/orthe force required to close the end effector on the tissue as measuredby the sensors can be used by the controller 1840 to characterize theposition and/or speed of the movable member being tracked. In at leastone instance, a memory 1830 may store a technique, an equation, and/or alook-up table which can be employed by the controller 1840 in theassessment. In various instances, the controller 1840 can provide theuser of the surgical instrument with a choice as to the manner in whichthe surgical instrument should be operated. To this end, the display1440 can display a variety of operating conditions of the instrument andcan include touch screen functionality for data input. Moreover,information displayed on the display 1440 may be overlaid with imagesacquired via the imaging modules of one or more endoscopes and/or one ormore additional surgical instruments used during the surgical procedure.

As discussed above, the drive module 1100 of the handle 1000 and/or theshaft assemblies 2000, 3000, 4000, and/or 5000, for example, attachablethereto comprise control systems. Each of the control systems cancomprise a circuit board having one or more processors and/or memorydevices. Among other things, the control systems are configured to storesensor data, for example. They are also configured to store data whichidentifies the shaft assembly to the handle 1000. Moreover, they arealso configured to store data including whether or not the shaftassembly has been previously used and/or how many times the shaftassembly has been used. This information can be obtained by the handle1000 to assess whether or not the shaft assembly is suitable for useand/or has been used less than a predetermined number of times, forexample.

A shaft assembly 9000 is illustrated in FIGS. 51-69. The shaft assembly9000 is similar to the shaft assemblies 2000, 3000, 4000, and 5000 inmany respects, most of which will not be discussed herein for the sakeof brevity. As illustrated in FIG. 51, the shaft assembly 9000 comprisesa proximal portion 9100, an elongate shaft 9200 extending from theproximal portion 9100, a distal attachment portion 9400, and anarticulation joint 9300. The proximal portion 9100 comprises aninterface 9130 configured to be attached to a handle, such as the handle1000, for example. The articulation joint 9300 rotatably connects thedistal attachment portion 9400 to the elongate shaft 9200. The shaftassembly 9000 further comprises an end effector assembly 9500 attachedto the distal attachment portion 9400. The end effector assembly 9500comprises a first jaw 9510 and a second jaw 9520 configured to be openedand closed to clamp and/or manipulate the tissue of a patient. In use,the end effector assembly 9500 can be articulated about the articulationjoint 9300 and/or rotated relative to the distal attachment portion 9400about a longitudinal axis LA to better situate the jaws 9510 and 9520within a patient in order to perform various end effector functions, aswill be described in greater detail below.

Referring to FIG. 52, the shaft assembly 9000 comprises a drive assembly9700 supported on a frame 9110 in the proximal shaft portion 9100. Thedrive assembly 9700 is capable of being operated in two configurations—ashifting configuration and a drive configuration. Moreover, as discussedin greater detail below, the drive assembly 9700 is configured toprovide three end effector functions by way of one rotary input. Thedrive assembly 9700 comprises a first, or input, rotatable drive shaft9710 configured to transfer rotational motions from a drive motor 9120(illustrated in FIG. 51) to a main gear 9720 of the drive assembly 9700.Referring to FIGS. 54 and 55, the input drive shaft 9710 is rotatableabout a first rotation axis RA₁ and is rotatably supported by the frame9110. The main gear 9720 is mounted to the input drive shaft 9710 suchthat the main gear 9720 rotates with the input drive shaft 9710. Thedrive assembly 9700 further comprises a second, or output, rotatabledrive shaft 9740. The output drive shaft 9740 is rotatable about asecond rotation axis RA₂ and is also rotatably supported by the frame9110. As described in greater detail below, the drive assembly 9700 alsocomprises a first rotatable gear 9730 and a second rotatable gear 9830which are selectively engageable with the main gear 9720.

Referring to FIG. 52, the shaft assembly 9000 further comprises ashifting assembly 9800 configured to shift the drive assembly 9700. Theshifting assembly 9800 comprises a solenoid 9810 which translates ashifter gear 9820 to place the drive assembly 9700 in its shiftingconfiguration or its drive configuration. Referring to FIGS. 58 and 59,the shifter gear 9820 is operably intermeshed with the main gear 9720 ofthe drive assembly 9700 when the shifter gear 9820 is in its shiftingconfiguration (FIG. 58) and, also, its drive configuration (FIG. 59).That being said, the shifter gear 9820 rotatably drives either the firstrotatable gear 9730 or the second rotatable gear 9830 depending onwhether the drive assembly 9700 is in its shifting configuration (FIG.58) or its drive configuration (FIG. 59). Ultimately, the first andsecond rotatable gears 9730 and 9830 both drive the output drive shaft9740, but in different ways. More specifically, the output drive shaft9740 is rotated by the shifter gear 9820 via the first rotatable gear9730 when the drive assembly 9700 is in its drive configuration and, onthe other hand, the output drive shaft 9740 is translated by the shiftergear 9820 via the second rotatable gear 9830 when the drive assembly9700 is in its shifting configuration.

Referring primarily to FIGS. 58 and 59, the frame 9110 comprises a slot9115 defined therein which is configured to guide and/or constrain themovement of the shifter gear 9820. The slot 9115 comprises a first endconfigured to stop the shifter gear 9820 in its first position and asecond end configured to stop the shifter gear 9820 in its secondposition. More specifically, the shifter gear 9820 is rotatably mountedto a shifter shaft 9825 extending through the slot 9115 which slideswithin the slot 9115 and moves the shifter gear 9820 between its firstand second positions when the solenoid 9810 is actuated. The slot 9115comprises arcuate sidewalls extending between the first and second endsthereof which define an arcuate path for the shifter gear 9820. Thearcuate path is centered about the axis RA₁ extending through the inputshaft 9710. That said, the slot 9115 can comprise any suitableconfiguration and define any suitable path for the shifter gear 9820. Inat least one instance, the slot 9115 is straight and defines a straightpath for the shifter gear 9820.

Referring to FIGS. 55 and 56, the shifting assembly 9800 furthercomprises a threaded transfer shaft 9840 mounted to the second rotatablegear 9830 such that the transfer shaft 9840 turns with the secondrotatable gear 9830. Similar to the input shaft 9710, the transfer shaft9840 is rotatably supported by the frame 9110. The shifting assembly9800 further comprises a lateral shaft 9890 rotatably supported withinthe proximal portion 9100 which comprises a pinion gear 9850 operablyintermeshed with the transfer shaft 9840 such that the rotation of thetransfer shaft 9840 is transferred to the lateral shaft 9890. Thelateral shaft 9890 further comprises a rack gear 9860 defined thereonwhich is meshingly engaged with a rack 9880 defined on the output driveshaft 9740. The lateral shaft 9890 is rotatable about a third rotationaxis RA₃. As illustrated in FIG. 56, the first rotation axis RA₁ and thesecond rotation axis RA₂ are parallel, or at least substantiallyparallel, to one another, and the third rotation axis RA₃ isperpendicular, or at least substantially perpendicular, to the firstrotation axis RA₁ and the second rotation axis RA₂.

As outlined above, referring to FIG. 56, the shifter gear 9820 isintermeshed with the rotatable gear 9830 when the drive assembly 9700 isin its shifting configuration. As the motor 9120 powers the input shaft9710 to rotate the main gear 9720, the shifter gear 9820 also rotates.As the shifter gear 9820 rotates while engaged with the rotatable gear9830, the transfer shaft 9840 rotates in the same direction as therotatable gear 9830 and the lateral shaft 9890 rotates about the axisRA₃. When the main gear 9720 is rotated in a first direction, in thisconfiguration, the rack gear 9860 drives the drive shaft 9740 distallyvia the rack 9880, as illustrated in FIG. 61. When the main gear 9720 isrotated in a second, or opposite, direction, the rack gear 9860 drivesthe drive shaft 9740 proximally, as illustrated in FIG. 60. As discussedin greater detail below, the drive shaft 9740 is shiftable proximallyand distally to place the drive shaft 9740 in a first, or proximal,drive configuration, a second, or intermediate, drive configuration, anda third, or distal, drive configuration.

Further to the above, the shaft assembly 9000 and/or handle 1000, forexample, comprise a control system configured to operate the drive motor9120 and the solenoid 9810. The control system of the shaft assembly9000 is similar to the control system 1800 and/or 2800 in many respects,most of which will not be discussed herein for the sake of brevity. Thecontrol system is configured to receive inputs from the clinician and,in response to those inputs, shift the shaft assembly 9000 into a first,or articulation, operating mode, a second, or rotation, operating mode,or a third, or jaw drive, operating mode. The first, second, and thirdoperating modes of the shaft assembly 9000 correspond to the first,second, and third positions of the output shaft 9740. When the shaftassembly 9000 is instructed to switch between operating modes, thesolenoid 9810 moves the shifter gear 9820 into its second position andthen rotates the input shaft 9710 to translate the output shaft 9740.The control system is configured to correlate the amount in which theinput shaft 9710 is rotated to the amount in which the output shaft 9740is translated. The control system is configured to monitor the rotationsof the drive motor 9120 and then stop the drive motor 9120 once thedrive motor 9120 has been rotated the appropriate number of rotations toshift the output shaft 9740. The control system comprises a memorydevice which stores the number of rotations needed to translate theoutput shaft 9740 between its first, second, and third positions. Forinstance, the memory device stores the number of rotations of the drivemotor 9120 to translate the output shaft 9740 between the first positionand the second position, the first position and the third position, andthe second position and the third position. The control system is alsoconfigured to know what position the output shaft 9740 is currently inbefore operating the drive motor 9120. In various instances, the controlsystem can comprise a sensor system configured to detect the currentposition of the output shaft 9740 and then determine the number ofrotations, and the direction of those rotations, in which the drivemotor 9120 should be operated.

Once the output shaft 9740 has been positioned in the first, second, orthird position, as described above, the control system operates thesolenoid 9810 to place the shifter gear 9820 in the drive configuration.In such instances, the shifter gear 9820 is disengaged from the secondgear 9830 and then engaged with the first gear 9730. The first gear 9730is mounted to the output shaft 9740 such that the rotation of the firstgear 9730 is transmitted to the output shaft 9740. More specifically,the first gear 9730 is disposed on the splined proximal end 9745 of theoutput shaft 9740 such that the first gear 9730 and the output shaft9740 rotate together. That said, the output shaft 9740 can translaterelative to the first gear 9730 owing to the splined proximal end 9745such that the first gear 9730 remains aligned with the shifter gear 9820when the output shaft 9740 is being translated as described above. Asdiscussed in greater detail below, the input shaft 9710 is rotatable ina first direction to rotate the output shaft 9740 in a first directionand a second direction to rotate the output shaft 9740 in a seconddirection.

FIGS. 58 and 61 illustrate the drive assembly 9700 in the shiftingconfiguration. The main gear 9720 is rotatably engaged with the shiftergear 9820 in the shifting configuration to transfer motion from theinput drive shaft 9710 to the second rotatable gear 9830. FIGS. 59 and60 illustrate the drive assembly 9700 in the drive configuration. In thedrive configuration, the main gear 9720 is rotatably engaged with theshifter gear 9820 to transfer motion from the input drive shaft 9710 tothe first rotatable gear 9730. As discussed above, the output driveshaft 9740 is translatable. In fact, the output drive shaft 9740 istranslatable between three different operational positions—a first, orproximal, position in which the output drive shaft 9740 drives anarticulation system, a second, or intermediate, position in which theoutput drive shaft 9740 drives an end effector rotation system, and athird, or distal, position in which the output shaft 9740 drives a jawdrive system.

Turning now to FIGS. 62 and 63, the articulation joint 9300 comprises anarticulation system configured to articulate the distal attachmentportion 9400 and the end effector 9500 in a first direction and a seconddirection. The articulation system comprises a fixed gear 9220 mountedon an outer housing 9530 of the end effector 9500 and, also, anarticulation drive gear 9320 fixedly mounted to the output shaft 9740such that the articulation drive gear 9320 rotates with the output shaft9740. When the output shaft 9740 is in its first, or proximal position,as illustrated in FIGS. 64 and 65, the articulation drive gear 9320 isoperably intermeshed with the fixed gear 9220. As the output drive shaft9740 is rotated in the first direction, in such instances, thearticulation drive gear 9320 rotates in conjunction with the outputshaft 9740 which articulates the end effector 9500 in a firstarticulation direction due to the meshing engagement of the articulationdrive gear 9320 and the fixed gear 9220. As the output shaft 9740 isrotated in the second direction, the articulation drive gear 9320rotates in conjunction with the output drive shaft 9740 whicharticulates the end effector 9500 in a second, or opposite, articulationdirection, also due to the meshing engagement of the articulation drivegear 9320 and the fixed gear 9220. When the end effector 9500 isarticulated, the output drive shaft 9740 is configured to bend in orderto accommodate the articulation motion of the end effector 9500. Thus,the output drive shaft 9740 is comprised of suitable materials whichcompliment the bending movement of the output shaft 9740 during anarticulation motion, as illustrated in FIG. 65.

As discussed above, referring again to FIGS. 64 and 65, the end effector9500 is in its articulation mode when the output shaft 9740 is in itsfirst, or proximal, position. In such instances, as also discussedabove, the rotation of the output shaft 9740 articulates the endeffector 9500. That said, in such instances, the rotation of the outputshaft 9740 does not rotate the end effector 9500 about the longitudinalaxis and/or operate the jaw drive to open and close the jaws 9510 and9520. Stated another way, the jaw opening/closure mode and the endeffector rotation mode are inactive when the end effector 9500 is in thearticulation mode. As illustrated in FIGS. 64 and 65, the distal end9744 of the output shaft 9740 is not engaged with a drive screw 9350 ofthe jaw drive when the end effector 9500 is in the articulation modeand, as such, the output shaft 9740 cannot drive the drive screw 9350until the output shaft 9740 has been shifted distally, as described ingreater detail below. Moreover, the end effector 9500 can't be rotatedabout the longitudinal axis because the end effector 9500 is locked tothe distal attachment portion 9400 of the shaft assembly 9000 by arotation lock 9330 when the end effector 9500 is in the articulationmode. In such instances, the housing 9530 of the end effector 9500 islocked to a housing 9430 of the distal attachment portion 9400 by therotation lock 9330 such that the end effector 9500 cannot rotaterelative to the shaft assembly 9000 until the output shaft 9740 has beenshifted distally, as described in greater detail below.

Further to the above, referring again to FIGS. 64 and 65, the rotationlock 9330 is pivotably coupled to the housing 9430 of the distalattachment portion 9400 about a center attachment portion 9336. Therotation lock 9330 further comprises a proximal end 9332 and a distallock end 9334. When the output shaft 9740 is in its first, or proximal,drive position, and the end effector 9500 is in its articulation mode,the distal lock end 9334 of the rotation lock 9330 is wedged intoengagement with an annular array of lock apertures 9534 defined aroundthe outer housing 9530 of the end effector 9500. More specifically, theproximal end 9332 of the rotation lock 9330 is wedged outwardly by adrive lock 9340 coupled to the output shaft 9740 which, in turn, wedgesthe distal lock end 9334 inwardly. The drive lock 9340, which isdescribed in greater detail below, comprises a slot 9346 defined thereinand is translated proximally and distally with the output shaft 9740 bya flange 9746 extending into the slot 9346. When the output shaft 9740is moved distally out of its first, or proximal, drive position, thedrive lock 9340 is moved out of engagement with the proximal end 9332 ofthe rotation lock 9330, as illustrated in FIGS. 66-69.

When the output shaft 9740 is not in its first, or proximal, driveposition, the articulation drive gear 9320 is not operably intermeshedwith the fixed gear 9220. In such instances, the rotation of the outputshaft 9740 does not articulate the end effector 9500. That said, the endeffector 9500 is held in its articulated position by the drive shaft9740 when the drive shaft 9740 is translated distally from its firstposition. More specifically, the drive shaft 9740 comprises articulationlock teeth 9742 defined thereon which engage, or mesh with, the teeth9222 of the fixed gear 9220 when the drive shaft 9740 is advanceddistally and, owing to the engagement between the teeth 9742 and 9222,the end effector 9500 is locked in position. This articulation lockworks when the end effector 9500 is articulated in the first direction,articulated in the second direction, and when the end effector 9500 isunarticulated. Moreover, this articulation lock is engaged as soon asthe drive shaft 9740 is displaced distally from its first position.Thus, the articulation lock is engaged when the drive shaft 9740 is inits second position and third position. In order to unlock thearticulation lock, the drive shaft 9740 is moved back into its firstposition to disengage the teeth 9742 from the teeth 9222. At such point,the end effector 9500 can be articulated once again.

When the output drive shaft 9740 is in its second, or intermediate,position, referring to FIGS. 66 and 67, the end effector 9500 is in itsrotation drive mode. In such instances, the articulation drive gear 9320mounted to the output shaft 9740 is not engaged with the fixed gear 9220and, as a result, the rotation of the output shaft 9740 does notarticulate the distal attachment portion 9400 and the end effector 9500.That said, the distal end 9744 of the output shaft 9740 is positionedwithin the drive socket 9354 of the drive screw 9350 when the outputshaft 9740 is in its second position. Notably, though, the distal end9744 is not fully seated in the drive socket 9354—this happens when theoutput shaft 9740 is translated distally into its third, or distal,position (FIGS. 68 and 69), as discussed in greater detail below. Thatbeing said, the rotation of the output shaft 9740 is transferred to thedrive screw 9350 when the output shaft 9740 is in its second, orintermediate, position. Owing to a close, or friction, fit between thedrive screw 9350 and the outer housing 9530 of the end effector 9500,however, the rotation of the drive screw 9350 is transferred to theouter housing 9350. More specifically, the drive screw 9350 comprises aflange 9358 closely received within a slot 9538 defined in the outerhousing 9530 and, as such, the drive screw 9350 and the outer housing9530 rotate together when the end effector 9500 is in its rotation drivemode. Moreover, the entire end effector 9500, including the jaws 9510and 9520 rotatably coupled to the outer housing 9530 by a pivot pin9380, is rotated about a longitudinal axis when the end effector 9500 isin its rotation drive mode and the output shaft 9740 is rotated.

When the output shaft 9740 is rotated in a first direction when the endeffector 9500 is in its rotation drive mode, further to the above, theend effector 9500 is rotated relative to the distal attachment portion9400 of the shaft assembly 9000 in the first direction. Correspondingly,the end effector 9500 is rotated relative to the distal attachmentportion 9400 in a second, or opposite, direction when the output shaft9740 is rotated in the second, or opposite, direction. Notably, therotation of the drive screw 9350 does not open and/or close the jaws9510 and 9520 in such instances as the drive screw 9350 does not rotaterelative to the outer housing 9530 and/or jaws 9510 and 9520. Also,notably, the outer housing 9530 of the end effector 9500 rotatesrelative to the outer housing 9430 of the distal attachment portion 9400when the end effector 9500 is in its rotation drive mode. This is due tothe distal displacement of the drive lock 9340 away from the proximalend 9332 of the rotation lock 9330 when the drive shaft 9740 is movedinto its second position such that, as a result, the outer housing 9530of the end effector 9500 can rotate relative to the outer housing 9430of the distal attachment portion 9400.

When the output drive shaft 9740 is in its third, or distal, position,referring to FIGS. 68 and 69, the end effector 9500 is in its jaw drivemode. In such instances, the articulation drive gear 9320 mounted to theoutput shaft 9740 is not engaged with the fixed gear 9220 and, as aresult, the rotation of the output shaft 9740 does not articulate thedistal attachment portion 9400 and the end effector 9500. That said,further to the above, the distal end 9744 of the drive shaft 9740 isfully seated in the drive socket 9354 of the drive screw 9350 when theend effector 9500 is in its distal position. As a result, the drivescrew 9350 rotates with the output shaft 9740. Moreover, the drive screw9350 rotates relative to the outer housing 9530 when the end effector9500 is in its jaw drive mode. This is because the drive lock 9340coupled to the drive shaft 9740 is driven distally into engagement withthe outer housing 9530 when the drive shaft 9740 is moved into itsthird, or distal, drive position and, as a result, prevents the outerhousing 9530 from rotating with the drive screw 9350. More specifically,referring to FIG. 63, the drive lock 9340 comprises a distal lock end9342 configured to engage an annular array of lock apertures 9532defined in the proximal end of the outer housing 9530 and, once thedistal lock end 9342 is engaged with the apertures 9532, the outerhousing 9530 is held in position by the drive lock 9340.

Further to the above, the end effector 9500 further comprises a drivenut 9360 threadably engaged with the drive screw 9350 and, in addition,two drive links 9370 pivotably coupled to the drive nut 9360—each ofwhich is also pivotably coupled to a jaw 9510 and 9520. The drive nut9360 comprises a threaded aperture 9362 defined therein threadablyengaged with a threaded end 9352 of the drive shaft 9350. The drive nut9360 is constrained from rotating relative to the outer housing 9530and, as a result, the drive nut 9360 is translated proximally ordistally when the drive screw 9350 is rotated, depending on thedirection in which the drive screw 9350 is rotated. When the drive screw9350 is rotated in a first direction by the drive shaft 9740, the drivescrew 9350 pushes the drive nut 9360 and the drive links 9370 distallyto open the jaws 9510 and 9520. When the drive screw 9350 is rotated ina second direction by the drive shaft 9740, the drive screw 9350 pullsthe drive nut and the drive links 9370 proximally to close the jaws 9510and 9520. That being said, a different thread could be used to reversethese motions.

In view of the above, the end effector 9500 cannot be rotated about itslongitudinal axis and the jaws 9510 and 9520 cannot be opened and closedduring the articulation mode. Moreover, the end effector 9500 cannot bearticulated about the articulation joint 9300 and the jaws 9510 and 9520cannot be opened and closed during the end effector rotation mode.Similarly, the end effector 9500 cannot be rotated or articulated duringthe jaw drive mode.

Further to the above, the shaft assembly 9000 comprises a braking system9900 configured to hold the drive shaft 9740 in its first, orarticulation, drive position, its second, or rotation, drive position,and/or its third, or jaw drive, position. The braking system 9900comprises a solenoid 9910, a brake arm 9920 operably connected to arotatable output shaft of the solenoid 9910, and a biasing member. Thebrake arm 9920 is rotatable between a first position in which the brakearm 9920 is engaged with the drive shaft 9740 and a second position inwhich the brake arm 9920 is disengaged from the drive shaft 9740. Thebiasing member biases the brake arm 9920 into its first position, butthis bias is overcome when the solenoid 9910 is actuated. When the brakearm 9920 is in its first position, the brake arm 9920 opposes, throughfriction, the movement of the drive shaft 9740. In such instances, thebrake arm 9920 can reduce the possibility of the drive shaft 9740 beingaccidentally pushed longitudinally out of position. When the brake arm9920 is in its second position, the brake arm 9920 does not oppose themotion of the drive shaft 9740. In various instances, the solenoid 9910can be actuated to lift the brake arm 9920 when the shaft assembly 9000has been shifted into its drive configuration by the solenoid 9810, asdiscussed above. In at least one such instance, the solenoid 9910 can beactuated to lift the brake arm 9920 when the shaft assembly 9000 is inits drive configuration and the input motor 9120 is being operated. Theshifting solenoid 9810 and the brake solenoid 9910 are in communicationwith the control system of the shaft assembly 9000 and/or the controlsystem of the handle 1000, for example, and can be selectively actuatedby the control system. The control system can actuate the solenoid 9910to inhibit the movement of the drive shaft 9740 at any suitable time. Inat least one instance, the control system is configured to always applya braking force to the drive shaft 9740 except when the shaft assembly9000 and/or handle are in a limp mode, for example. In certainalternative embodiments, a static friction member, for example, can beused to inhibit unintended displacement of the drive shaft 9740.

The shaft assembly 9000 further comprises a sensor system configured todetect the longitudinal position of the drive shaft 9740. In at leastone instance, the drive shaft 9740 comprises a magnetic element, such asa permanent magnet, iron, and/or nickel, for example, which isdetectable by one or more sensors of the sensor system. In at lest oneinstance, a sensor of the sensor system comprises a Hall Effect sensor,for example. The sensor system is in communication with the controlsystem of the shaft assembly 9000 and/or the handle 1000, for example,and is configured to confirm whether the drive shaft 9740 is in itsproximal drive position, its intermediate drive position, its distaldrive position, or somewhere in-between. With this information, thecontrol system can monitor the position of the drive shaft 9740 inreal-time and adjust the longitudinal position of the drive shaft 9740,if necessary.

A shaft assembly 9000′ is depicted tin FIGS. 70-79 which is similar tothe shaft assembly 9000 in many respects, most of which will not bediscussed herein for the sake of brevity. Referring primarily to FIG.71, the shaft assembly 9000′ comprises an elongate shaft 9200′, a distalattachment portion 9400′, and an articulation joint 9300′ rotatablyconnecting the distal attachment portion 9400′ to the elongate shaft9200′. The shaft assembly 9000′ further comprises an end effector 9500rotatably supported within an outer housing 9430 of the distalattachment portion 9400′. The shaft assembly 9000′ also comprises adrive system configured to rotate the end effector 9500 about alongitudinal axis, articulate the end effector 9500 about thearticulation joint 9300′, and open and close the jaws 9510 and 9520 ofthe end effector 9500.

Referring primarily to FIG. 70, the drive system comprises, among otherthings, a rotatable input shaft 9710, a first output shaft 9740′, and asecond output shaft 9860′. The drive system further comprises a shiftersolenoid 9810′ configured to selectively couple the input shaft 9710with the first output shaft 9740′ in a first drive configuration and thesecond output shaft 9860′ in a second drive configuration. In the firstdrive configuration, the rotatable input shaft 9710 rotates the maingear 9720 which, in turn, rotates the shifter gear 9820. In suchinstances, the shifter gear 9820 rotates the first drive gear 9730which, in turn, rotates the first output shaft 9740′. Similar to theoutput shaft 9740, the first drive gear 9730 is engaged with a splinedproximal end 9745 of the first output shaft 9740′ such that the firstoutput shaft 9740′ rotates with, but can translate relative to, thefirst drive gear 9730. The drive system of the shaft assembly 9000′further comprises a second shifter solenoid 9910′ configured totranslate the first output shaft 9740′ between a disengaged position(FIGS. 74 and 75), a first drive position (FIGS. 76 and 77), and asecond drive position (FIGS. 78 and 79). The second shifter solenoid9910′ comprises a shift arm 9920′ engaged with a flange 9720′ defined onthe first output shaft 9740′ which is configured to push the firstoutput shaft 9740′ between its disengaged position, first drive positon,and second drive position.

In the second drive configuration, further to the above, the rotatableinput shaft 9710 rotates the main gear 9720 which, in turn, rotates theshifter gear 9820. In such instances, the shifter gear 9820 rotates thesecond drive gear 9830 which, in turn, rotates a threaded shaft 9840′.The drive system further comprises a drive nut 9850′ threadably engagedwith the threaded shaft 9840′ such that, when the threaded shaft 9840′is rotated in a first direction by the input shaft 9710, the drive nut9850′ is translated proximally and, when the threaded shaft 9840′ isrotated in a second, or opposite, direction by the input shaft 9710, thedrive nut 9850′ is translated distally. The second output shaft 9860′comprises a bar fixedly mounted to the drive nut 9850′ such that thesecond output shaft 9860′ translates with the drive nut 9850′. Thus, therotation of the rotatable input shaft 9710 translates the second outputshaft 9860′. The translatable second output shaft 9860′ extends throughan outer housing 9230′ of the elongate shaft 9200′ alongside therotatable/translatable first output shaft 9740′. As described in greaterdetail below, the first output shaft 9740′ drives a first end effectorfunction and a second end effector function while the second outputshaft 9860′ drives a third end effector function.

Further to the above, referring to FIGS. 72-75, the drive system furthercomprises a drive link 9870′ pivotably coupled to the second outputshaft 9860′. The drive link 9870′ extends across the articulation joint9300′ and is pivotably coupled to the outer housing 9430 of the distalattachment portion 9400′. When the input shaft 9710 is rotated in thefirst direction and the drive link 9870′ is pulled proximally by thedrive nut 9850′, the distal attachment portion 9400′ and the endeffector 9500 are articulated in a first articulation direction. Whenthe input shaft 9710 is rotated in the second direction and the drivelink 9870′ is pushed distally by the drive nut 9850′, referring to FIG.75, the distal attachment portion 9400′ and the end effector 9500 arearticulated in a second, or opposite, articulation direction. Thethreaded interface between the threaded shaft 9840′ and the drive nut9850′ prevents, or at least inhibits, the articulation drive from beingback-driven, or unintentionally articulated. As a result, the endeffector 9500 is held in position when the shifter gear 9820 is shiftedout of engagement with the second gear 9830 and into engagement with thefirst gear 9730. Notably, the first output shaft 9740′ is not involvedin the articulation of the end effector 9500. In fact, the first outputshaft 9740′ is in its disengaged position such that the distal end 9744of the first output shaft 9740′ is not engaged with the drive screw 9750when the end effector 9500 is being articulated.

Further to the above, the first output shaft 9740′ is used toselectively rotate the end effector 9500 about a longitudinal axis. Thefirst output shaft 9740′ is also used to selectively operate the jawdrive to open and close the end effector 9500. The first drive positionof the first rotatable output shaft 9740′ is used to rotate the endeffector 9500 of the shaft assembly 9000′ about a longitudinal axis. Asillustrated in FIGS. 76 and 77, the distal end 9744 of the first outputshaft 9740′ is seated, but not completely seated, within the drivesocket 9354 defined in the drive screw 9350 when the first output shaft9740′ is in its first drive position. Notably, however, the drive lock9340 is not engaged with the outer housing 9530 of the end effector 9500and, as a result, the outer housing 9530 rotates with the drive screw9350. In such instances, the rotation of the first output shaft 9740′ istransferred to the drive screw 9350 to rotate the entire end effector9500, as described above. The second drive position of the firstrotatable output shaft 9740′ is used to open and close the jaws 9510 and9520. As illustrated in FIGS. 78 and 79, the distal end 9744 of thefirst output shaft 9740′ is completely seated within the drive socket9354 defined in the drive screw 9350 when the first output shaft 9740′is in its second drive position. Notably, the drive lock 9340 is engagedwith the outer housing 9530 of the end effector 9500 and, as a result,the drive screw 9350 rotates relative to the outer housing 9530. In suchinstances, the rotation of the first output shaft 9740′ opens and closesthe jaws 9510 and 9520—depending on the direction in which the firstoutput shaft 9740′ is rotated.

The reader should appreciate that the proximal, intermediate, and distaldrive positions of the output shaft 9740 of the shaft assembly 9000 areanalogous to the proximal, intermediate, and distal drive positions ofthe first output shaft 9740′. More specifically, the output shaft 9740is operable to articulate the end effector 9500 when the output shaft9740 is in its proximal position, while the end effector 9500 isarticulated, by the second output shaft 9860′, when the first outputshaft 9740′ is in its proximal position. Moreover, the output shaft 9740is operable to rotate the end effector 9500 when the output shaft 9740is in its intermediate position while, likewise, the first output shaft9740′ is operable to rotate the end effector 9500 when the first outputshaft 9740′ is in its intermediate position. Similarly, the output shaft9740 is operable to open and close the end effector 9500 when the outputshaft 9740 is in its distal position while, likewise, the first outputshaft 9740′ is operable to open and close the end effector 9500 when thefirst output shaft 9740′ is in its distal position.

The output shaft 9740 of the shaft assembly 9000 and/or the first outputshaft 9740′ of the shaft assembly 9000′ are comprised of a unitary pieceof material. Such an arrangement reduces the possibility of the outputshafts 9740 and 9740′ failing under load. That said, alternativeembodiments are envisioned in which the output shafts 9740 and/or 9740′are comprised of two or more components. Referring to FIGS. 80 and 81, adrive shaft 9740″ comprises a first shaft component 9740 a″ and a secondshaft component 9740 b″. The first shaft component 9740 a″ comprises adrive aperture defined therein and the second shaft component 9740 b″ ispositioned in the drive aperture. The drive aperture comprises aconfiguration which is configured to transmit torque between the firstshaft component 9740 a″ and the second shaft component 9740 b″, yetpermit relative translational movement between the first shaft component9740 a″ and the second shaft component 9740 b″. Such an arrangement isuseful to accommodate the articulation of an end effector when the driveshaft 9740″ extends through an articulation joint, for example. In suchinstances, the interconnection between the first shaft component 9740 a″and the second shaft component 9740 b″ can comprise an extension jointwhich allows the drive shaft 9740″ to extend in length when the endeffector is articulated.

Referring to FIG. 57, the drive shaft 9740″ is similar to the driveshaft 9740 in many respects, most of which will not be discussed hereinfor the sake of brevity. Similar to the drive shaft 9740, the driveshaft 9740″ is translated proximally and distally to shift an endeffector between drive modes and then rotated to drive the end effectorin the selected drive mode. That said, the drive shaft 9740″ comprisesan extension joint in the proximal drive system which facilitates thetranslation and rotation of the drive shaft 9740″. This extension jointof the drive shaft 9740″ comprises a drive aperture 9885″ defined in aproximal rack portion 9880″ of the drive shaft 9740″ and, in addition, aproximal splined portion 9745″ slideably positioned in the driveaperture 9885″. Similar to the above, the drive aperture 9885″ comprisesa configuration configured to transmit torque between the proximalsplined portion 9745″ and the distal portion of the shaft 9740″ yetpermit relative translation therebetween. In such an arrangement, theproximal splined portion 9745″ does not need to move relative to thegear 9730 in order to accommodate the distal displacement of the shaft9740″. Such an arrangement reduces the possibility that the gear 9730may be pulled out of engagement with the shifter gear 9820, for example.

Further to the above, the rotation lock 9330, which is configured toengage the end effector 9500 to prevent the end effector 9500 fromrotating about its longitudinal axis as described above, is alsoconfigured to releasably attach the end effector 9500 to the shaftassembly 9000 and/or shaft assembly 9000′. When the end effector 9500 isassembled to the shaft assembly 9000, for example, the rotation lock9330 engages the annular array of teeth 9534 defined around theperimeter of the end effector housing 9530 to releasably hold the endeffector 9500 in position. When the drive shaft 9740 is in its firstposition, the drive lock 9340 blocks the rotation lock 9330 from beingrotated to release the end effector 9500. In order to release the endeffector 9500 from the shaft assembly 9000, the drive shaft 9740 can beadvanced distally to move the drive lock 9340 distally and allow therotation lock 9330 to rotate so that the end effector 9500 can be pulledlongitudinally away from the shaft assembly 9000. In at least oneinstance, the drive shaft 9740 must be moved into its third, or distal,drive position in order to release the end effector 9500.

The surgical instrument systems described herein are motivated by anelectric motor; however, the surgical instrument systems describedherein can be motivated in any suitable manner. In certain instances,the motors disclosed herein may comprise a portion or portions of arobotically controlled system. U.S. patent application Ser. No.13/118,241, entitled SURGICAL STAPLING INSTRUMENTS WITH ROTATABLE STAPLEDEPLOYMENT ARRANGEMENTS, now U.S. Pat. No. 9,072,535, for example,discloses several examples of a robotic surgical instrument system ingreater detail, the entire disclosure of which is incorporated byreference herein.

The surgical instrument systems described herein can be used inconnection with the deployment and deformation of staples. Variousembodiments are envisioned which deploy fasteners other than staples,such as clamps or tacks, for example. Moreover, various embodiments areenvisioned which utilize any suitable means for sealing tissue. Forinstance, an end effector in accordance with various embodiments cancomprise electrodes configured to heat and seal the tissue. Also, forinstance, an end effector in accordance with certain embodiments canapply vibrational energy to seal the tissue. In addition, variousembodiments are envisioned which utilize a suitable cutting means to cutthe tissue.

The entire disclosures of:

U.S. patent application Ser. No. 11/013,924, entitled TROCAR SEALASSEMBLY, now U.S. Pat. No. 7,371,227;

U.S. patent application Ser. No. 11/162,991, entitled ELECTROACTIVEPOLYMER-BASED ARTICULATION MECHANISM FOR GRASPER, now U.S. Pat. No.7,862,579;

U.S. patent application Ser. No. 12/364,256, entitled SURGICALDISSECTOR, now U.S. Patent Application Publication No. 2010/0198248;

U.S. patent application Ser. No. 13/536,386, entitled EMPTY CLIPCARTRIDGE LOCKOUT, now U.S. Pat. No. 9,282,974;

U.S. patent application Ser. No. 13/832,786, entitled CIRCULAR NEEDLEAPPLIER WITH OFFSET NEEDLE AND CARRIER TRACKS, now U.S. Pat. No.9,398,905;

U.S. patent application Ser. No. 12/592,174, entitled APPARATUS ANDMETHOD FOR MINIMALLY INVASIVE SUTURING, now U.S. Pat. No. 8,123,764;

U.S. patent application Ser. No. 12/482,049, entitled ENDOSCOPICSTITCHING DEVICES, now U.S. Pat. No. 8,628,545;

U.S. patent application Ser. No. 13/118,241, entitled SURGICAL STAPLINGINSTRUMENTS WITH ROTATABLE STAPLE DEPLOYMENT ARRANGEMENTS, now U.S. Pat.No. 9,072,535;

U.S. patent application Ser. No. 11/343,803, entitled SURGICALINSTRUMENT HAVING RECORDING CAPABILITIES, now U.S. Pat. No. 7,845,537;

U.S. patent application Ser. No. 14/200,111, entitled CONTROL SYSTEMSFOR SURGICAL INSTRUMENTS, now U.S. Pat. No. 9,629,629;

U.S. patent application Ser. No. 14/248,590, entitled MOTOR DRIVENSURGICAL INSTRUMENTS WITH LOCKABLE DUAL DRIVE SHAFTS, now U.S. Pat. No.9,826,976;

U.S. patent application Ser. No. 14/813,242, entitled SURGICALINSTRUMENT COMPRISING SYSTEMS FOR ASSURING THE PROPER SEQUENTIALOPERATION OF THE SURGICAL INSTRUMENT, now U.S. Patent ApplicationPublication No. 2017/0027571;

U.S. patent application Ser. No. 14/248,587, entitled POWERED SURGICALSTAPLER, now U.S. Pat. No. 9,867,612;

U.S. patent application Ser. No. 12/945,748, entitled SURGICAL TOOL WITHA TWO DEGREE OF FREEDOM WRIST, now U.S. Pat. No. 8,852,174;

U.S. patent application Ser. No. 13/297,158, entitled METHOD FORPASSIVELY DECOUPLING TORQUE APPLIED BY A REMOTE ACTUATOR INTO ANINDEPENDENTLY ROTATING MEMBER, now U.S. Pat. No. 9,095,362;

International Application No. PCT/US2015/023636, entitled SURGICALINSTRUMENT WITH SHIFTABLE TRANSMISSION, now International PatentPublication No. WO 2015/153642 A1;

International Application No. PCT/US2015/051837, entitled HANDHELDELECTROMECHANICAL SURGICAL SYSTEM, now International Patent PublicationNo. WO 2016/057225 A1;

U.S. patent application Ser. No. 14/657,876, entitled SURGICAL GENERATORFOR ULTRASONIC AND ELECTROSURGICAL DEVICES, U.S. Patent ApplicationPublication No. 2015/0182277;

U.S. patent application Ser. No. 15/382,515, entitled MODULAR BATTERYPOWERED HANDHELD SURGICAL INSTRUMENT AND METHODS THEREFOR, U.S. PatentApplication Publication No. 2017/0202605;

U.S. patent application Ser. No. 14/683,358, entitled SURGICAL GENERATORSYSTEMS AND RELATED METHODS, U.S. Patent Application Publication No.2016/0296271;

U.S. patent application Ser. No. 14/149,294, entitled HARVESTING ENERGYFROM A SURGICAL GENERATOR, U.S. Pat. No. 9,795,436;

U.S. patent application Ser. No. 15/265,293, entitled TECHNIQUES FORCIRCUIT TOPOLOGIES FOR COMBINED GENERATOR, U.S. Patent ApplicationPublication No. 2017/0086910; and

U.S. patent application Ser. No. 15/265,279, entitled TECHNIQUES FOROPERATING GENERATOR FOR DIGITALLY GENERATING ELECTRICAL SIGNAL WAVEFORMSAND SURGICAL INSTRUMENTS, U.S. Patent Application Publication No.2017/0086914, are hereby incorporated by reference herein.

Although various devices have been described herein in connection withcertain embodiments, modifications and variations to those embodimentsmay be implemented. Particular features, structures, or characteristicsmay be combined in any suitable manner in one or more embodiments. Thus,the particular features, structures, or characteristics illustrated ordescribed in connection with one embodiment may be combined in whole orin part, with the features, structures or characteristics of one oremore other embodiments without limitation. Also, where materials aredisclosed for certain components, other materials may be used.Furthermore, according to various embodiments, a single component may bereplaced by multiple components, and multiple components may be replacedby a single component, to perform a given function or functions. Theforegoing description and following claims are intended to cover allsuch modification and variations.

The devices disclosed herein can be designed to be disposed of after asingle use, or they can be designed to be used multiple times. In eithercase, however, a device can be reconditioned for reuse after at leastone use. Reconditioning can include any combination of the stepsincluding, but not limited to, the disassembly of the device, followedby cleaning or replacement of particular pieces of the device, andsubsequent reassembly of the device. In particular, a reconditioningfacility and/or surgical team can disassemble a device and, aftercleaning and/or replacing particular parts of the device, the device canbe reassembled for subsequent use. Those skilled in the art willappreciate that reconditioning of a device can utilize a variety oftechniques for disassembly, cleaning/replacement, and reassembly. Use ofsuch techniques, and the resulting reconditioned device, are all withinthe scope of the present application.

The devices disclosed herein may be processed before surgery. First, anew or used instrument may be obtained and, when necessary, cleaned. Theinstrument may then be sterilized. In one sterilization technique, theinstrument is placed in a closed and sealed container, such as a plasticor TYVEK bag. The container and instrument may then be placed in a fieldof radiation that can penetrate the container, such as gamma radiation,x-rays, and/or high-energy electrons. The radiation may kill bacteria onthe instrument and in the container. The sterilized instrument may thenbe stored in the sterile container. The sealed container may keep theinstrument sterile until it is opened in a medical facility. A devicemay also be sterilized using any other technique known in the art,including but not limited to beta radiation, gamma radiation, ethyleneoxide, plasma peroxide, and/or steam.

While this invention has been described as having exemplary designs, thepresent invention may be further modified within the spirit and scope ofthe disclosure. This application is therefore intended to cover anyvariations, uses, or adaptations of the invention using its generalprinciples.

Any patent, publication, or other disclosure material, in whole or inpart, that is said to be incorporated by reference herein isincorporated herein only to the extent that the incorporated materialsdo not conflict with existing definitions, statements, or otherdisclosure material set forth in this disclosure. As such, and to theextent necessary, the disclosure as explicitly set forth hereinsupersedes any conflicting material incorporated herein by reference.Any material, or portion thereof, that is said to be incorporated byreference herein, but which conflicts with existing definitions,statements, or other disclosure material set forth herein will only beincorporated to the extent that no conflict arises between thatincorporated material and the existing disclosure material.

What is claimed is:
 1. A surgical instrument, comprising: a shaft; anend effector coupled to the shaft; a rotatable input shaft; an outputshaft; and a transmission operable in a drive configuration and ashifting configuration, wherein the output shaft is translatable betweena first position and a second position by the rotation of the inputshaft when the transmission is in the shifting configuration, andwherein the output shaft is rotated by the rotation of the input shaftwhen the transmission is in the drive configuration.
 2. The surgicalinstrument of claim 1, wherein the end effector comprises a jawassembly, and wherein the output shaft is configured to drive the jawassembly when the output shaft is in its first position and thetransmission is in its drive configuration.
 3. The surgical instrumentof claim 2, wherein the end effector is rotatable about a longitudinalaxis, and wherein the output shaft is configured to rotate the endeffector when the output shaft is in its second position and thetransmission is in its drive configuration.
 4. The surgical instrumentof claim 3, further comprising an articulation joint connecting the endeffector to the shaft, wherein the output shaft is translatable into athird position by the rotation of the input shaft when the transmissionis in the shifting configuration, and wherein the output shaft isconfigured to articulate the end effector when the output shaft is inits third position and the transmission is in its drive configuration.5. The surgical instrument of claim 1, wherein the output shaftcomprises a rack portion, and wherein the transmission comprises a rackgear engaged with the rack portion configured to drive the output shaftbetween its first and second positions.
 6. The surgical instrument ofclaim 1, wherein the transmission comprises: a first drive path whichrotates the output shaft; a second drive path which translates theoutput shaft; and a solenoid shifter comprising a shifter gear movablebetween a first position and a second position, wherein the shifter gearis configured to selectively couple the rotatable input shaft with thefirst drive path when the shifter gear is in its first position and thesecond drive path when the shifter gear is in its second position. 7.The surgical instrument of claim 1, further comprising a brakeconfigured to hold the output shaft in the first position and the secondposition but permit the output shaft to rotate in the first position andthe second position.
 8. The surgical instrument of claim 7, furthercomprising a brake actuator configured to disengage the brake from theoutput shaft when the output shaft is being shifted between its firstposition and its second position.
 9. The surgical instrument of claim 1,wherein the end effector is configured to perform a first end effectorfunction and a second end effector function, wherein the first endeffector function is drivable by the output shaft when the output shaftis in its first position, and wherein the second end effector functionis drivable by the output shaft when the output shaft is in its secondposition.
 10. The surgical instrument of claim 9, further comprising: afirst lockout configured to lockout the first end effector function whenthe output shaft is in its second position; and a second lockoutconfigured to lockout the second end effector function when the outputshaft is in its first position.
 11. The surgical instrument of claim 10,wherein the movement of the output shaft from its first position to itssecond position engages the first lockout, and wherein the movement ofthe output shaft from its second position to its first position engagesthe second lockout.
 12. The surgical instrument of claim 10, wherein themovement of the output shaft from its first position to its secondposition disengages the second lockout, and wherein the movement of theoutput shaft from its second position to its first position disengagesthe first lockout.
 13. The surgical instrument of claim 10, wherein theend effector is configured to perform a third end effector function, andwherein the third end effector function is drivable by the output shaftwhen the output shaft is in a third position.
 14. The surgicalinstrument of claim 13, further comprising a third lockout configured tolockout the third end effector function when the output shaft is in itsfirst position or its second position.
 15. The surgical instrument ofclaim 14, wherein the movement of the drive shaft into its firstposition or its second position engages the third lockout.
 16. Thesurgical instrument of claim 14, wherein the movement of the drive shaftinto its third position disengages the third lockout.
 17. The surgicalinstrument of claim 1, wherein the end effector comprises a suturinginstrument configured to stitch thread into the tissue of a patient. 18.The surgical instrument of claim 1, wherein the end effector comprises aclipping instrument configured to apply a clip to the tissue of apatient.
 19. The surgical instrument of claim 1, wherein the endeffector comprises a grasping instrument comprising jaws closable ontothe tissue of a patient.
 20. The surgical instrument of claim 1, whereinthe end effector comprises a dissecting instrument comprising jawsopenable to separate the tissue of a patient.
 21. A surgical instrument,comprising: a shaft; an end effector configured to perform a first endeffector function, a second end effector function, and a third endeffector function; a rotatable input shaft; a first rotatable outputshaft operable to selectively drive the first and second end effectorfunctions; a second output shaft operable to drive the third endeffector function; and a first transmission shiftable between a firstdrive configuration and a second drive configuration, wherein the firsttransmission operably couples the first rotatable output shaft with therotatable input shaft when the first transmission is in its first driveconfiguration, and wherein the first transmission operably couples thesecond output shaft with the rotatable input shaft when the firsttransmission is in its second drive configuration; and a secondtransmission configured to translate the first rotatable output shaftbetween a first drive position to drive the first end effector functionand a second drive position to drive the second end effector function.22. The surgical instrument of claim 21, wherein the end effectorcomprises a jaw assembly, and wherein the first end effector functioncomprises at least one of opening the jaw assembly and closing the jawassembly.
 23. The surgical instrument of claim 21, wherein the endeffector is rotatable about a longitudinal axis, and wherein the secondend effector function comprises rotating the end effector about thelongitudinal axis.
 24. The surgical instrument of claim 21, furthercomprising an articulation joint, wherein the third end effectorfunction comprises articulating the end effector about the articulationjoint.
 25. The surgical instrument of claim 21, further comprising: afirst lockout configured to lockout the first end effector function whenthe first output shaft is in its second position; and a second lockoutconfigured to lockout the second end effector function when the firstoutput shaft is in its first position.
 26. The surgical instrument ofclaim 25, wherein the movement of the first output shaft from its firstposition to its second position engages the first lockout, and whereinthe movement of the first output shaft from its second position to itsfirst position engages the second lockout.
 27. The surgical instrumentof claim 25, wherein the movement of the first output shaft from itsfirst position to its second position disengages the second lockout, andwherein the movement of the first output shaft from its second positionto its first position disengages the first lockout.
 28. The surgicalinstrument of claim 25, further comprising a third lockout configured tolockout the third end effector function when the first output shaft isin its first position or its second position.
 29. The surgicalinstrument of claim 21, wherein the end effector comprises a suturinginstrument configured to stitch thread into the tissue of a patient. 30.The surgical instrument of claim 21, wherein the end effector comprisesa clipping instrument configured to apply a clip to the tissue of apatient.
 31. The surgical instrument of claim 21, wherein the endeffector comprises a grasping instrument comprising jaws closable ontothe tissue of a patient.
 32. The surgical instrument of claim 21,wherein the end effector comprises a dissecting instrument comprisingjaws openable to separate the tissue of a patient.